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+ "frame": 330, + "progress": 50, + "progress_explanation": "爪夹抓取烧杯竖直上升。因此当前进度提升至50%。", + "state_description": "当前爪夹合拢，此时烧杯与桌面垂直距离增加。为完成将玻璃烧杯放入石棉网中的任务应当：爪夹抓取烧杯向爪夹方向右前方移动接近石棉网。", + "time": 10.990712634517164, + "annotations": { + "point_1770346706677": { + "type": "point", + "instances": [ + { + "id": "point_1770346706677_1770346915949_tsang91xj", + "x": 0.44211105700005754, + "y": 0.5033147682035508 + } + ] + }, + "point_1770346706811": { + "type": "point", + "instances": [ + { + "id": "point_1770346706811_1770346917905_7ohem8axa", + "x": 0.5701110491875581, + "y": 0.5019814349787244 + } + ] + }, + "bbox_1770346705336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770346705336_1770346923217_ocs2vcia4", + "x": 0.4161110585869715, + "y": 0.4113147756905293, + "width": 0.18599998864746156, + "height": 0.23333331434461968 + } + ] + }, + "bbox_1770346705541": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770346705541_1770346933753_7mnhsx8gf", + "x": 0.524111051995175, + 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gauze-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..dd724a1ed598d9815b6b0bc563550d73d4807c85 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-110111-put-glass erlenmeyer flask-asbestos wire gauze-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,734 @@ +{ + "task_description": "将锥形烧杯放入石棉网中：\n准备移动：0%\n靠近烧杯：20%\n抓取烧杯：40%\n抓取烧杯接近石棉网：60%\n抓取烧杯下降靠近石棉网：80%\n松开爪夹使烧杯落在石棉网中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动，爪夹垂直下降靠近锥形烧杯，爪夹合拢抓取锥形烧杯，爪夹合拢抓取锥形烧杯竖直上升，爪夹抓取锥形烧杯向爪夹方向前方移动接近石棉网，爪夹抓取锥形烧杯向爪夹方向左边移动至石棉网正上方，爪夹抓取锥形烧杯下降靠近石棉网，松开爪夹使锥形烧杯落在石棉网上。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成将锥形烧杯放入石棉网中的任务应当：爪夹向爪夹方向右前方移动。", 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"爪夹垂直下降靠近锥形烧杯，爪夹合拢抓取锥形烧杯，爪夹合拢抓取锥形烧杯竖直上升，爪夹抓取锥形烧杯向爪夹方向前方移动接近石棉网，爪夹抓取锥形烧杯向爪夹方向左边移动至石棉网正上方，爪夹抓取锥形烧杯下降靠近石棉网，松开爪夹使锥形烧杯落在石棉网上。", + "error_success_analysis": "当前爪夹向爪夹方向右前方移动，使爪夹与锥形烧杯水瓶距离接近。", + "frame": 85, + "progress": 10, + "progress_explanation": "此时爪夹与锥形烧杯水瓶距离接近。因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与锥形烧杯水瓶距离接近。为完成将锥形烧杯放入石棉网中的任务应当：爪夹垂直下降靠近锥形烧杯。", + "time": 2.84838426423162, + "annotations": { + "point_1770346706677": { + "type": "point", + "instances": [ + { + "id": "point_1770346706677_1770347125196_slmyekqtp", + "x": 0.3971110597466394, + "y": 0.5059814346532036 + } + ] + }, + "point_1770346706811": { + "type": "point", + "instances": [ + { + "id": "point_1770346706811_1770347127129_h5mo02d75", + "x": 0.6241110458916597, + "y": 0.5086481011028564 + } + ] + }, + "bbox_1770346705336": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770346705336_1770347131860_s617qimpy", + "x": 0.4801110546807217, + "y": 0.571314762669697, + "width": 0.08699999468994175, + "height": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-133259-put-steak-oily pan-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e319437c3dfd9eace829c939c68da6dfd1f4b34a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-133259-put-steak-oily pan-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,622 @@ +{ + "task_description": "将牛排放入盘子中：\n准备移动：0%\n靠近牛排：20%\n抓取牛排：40%\n抓取牛排接近盘子：60%\n抓取牛排移动至盘子正上方：80%\n松开爪夹使牛排落入盘中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹垂直下降靠近牛排，爪夹合拢抓取牛排，爪夹抓取牛排竖直上升，爪夹抓取牛排向爪夹方向右前方移动接近盘子，爪夹抓取牛排向爪夹方向前方移动至盘子正上方，松开爪夹使牛排落入盘中。", + "error_success_analysis": "", + "frame": 48, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + 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"progress_explanation": "此时牛排水平距离接近盘子，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹成功抓取牛排接近盘子。", + "correction_plan": "爪夹抓取牛排向爪夹方向前方移动至盘子正上方，松开爪夹使牛排落入盘中。", + "annotations": { + "bbox_1770349712891": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770349712891_1770349790510_0468ypcaq", + "x": 0.4041110593193933, + "y": 0.148648130399729, + "width": 0.22299998638916102, + "height": 0.5319999567057326 + } + ] + }, + "bbox_1770349712764": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770349712764_1770349803042_10s3x4prf", + "x": 0.3971110597466394, + "y": 0.23931478968792402, + "width": 0.21499998687744215, + "height": 0.3613333039279538 + } + ] + } + } + }, + { + "time": 12.696133, + "frame": 381, + "progress": 80, + "action_description": "当前爪夹抓取牛排向爪夹方向右前方移动至盘子正上方。", + "state_description": "当前爪夹合拢抓取牛排，此时牛排位于盘子正上方，为完成将牛排放入盘子中的任务应当：松开爪夹使牛排落在盘子中。", + "progress_explanation": "此时牛排位于盘子正上方，因此当前进度提升至80%。", + "error_success_analysis": "当前爪夹成功抓取牛排移动至盘子正上方。", + 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+ "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770349713835", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-135902-put-steak-steak rack-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-135902-put-steak-steak rack-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..03e3208c2c9052f4bcc493c5e2295cf39b040de9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-135902-put-steak-steak rack-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,448 @@ +{ + "task_description": 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rack-mix2/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..12e6addb4ebb3cdd88cf0441dc358c9b5f9e0515 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-145926-put-toast-bread rack-mix2/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,528 @@ +{ + "task_description": "将烤面包放入面包架：\n准备移动：0%\n靠近面包：20%\n抓取面包：40%\n抓取面包接近面包架：60%\n抓取面包移动至面包架正上方：80%\n松开爪夹使面包落入面包架中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右前方移动并下降，爪夹向爪夹前方移动，爪夹向爪夹方向后方移动，爪夹向爪夹方向前方移动靠近烤面包，爪夹合拢抓取烤面包，爪夹抓取烤面包竖直上升，爪夹抓取烤面包向爪夹方向左边移动接近面包架，爪夹抓取烤面包向爪夹方向左边移动至面包夹正上方，爪夹抓取烤面包垂直下降至面包架中，松开爪夹使烤面包落入面包架中。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成将烤面包放入面包架的任务应当：爪夹向爪夹方向右前方移动并下降。", 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"error_success_analysis": "当前爪夹成功移动至烤面包正上方。", + "correction_plan": "爪夹向爪夹方向后方移动，爪夹向爪夹方向前方移动靠近烤面包，爪夹合拢抓取烤面包，爪夹抓取烤面包竖直上升，爪夹抓取烤面包向爪夹方向左边移动接近面包架，爪夹抓取烤面包向爪夹方向左边移动至面包夹正上方，爪夹抓取烤面包垂直下降至面包架中，松开爪夹使烤面包落入面包架中。", + "annotations": { + "bbox_1770362062647": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770362062647_1770362371715_i0wons81t", + "x": 0.5261110518731047, + "y": 0.577981428793829, + "width": 0.15799999035644588, + "height": 0.18266665180121652 + } + ] + } + } + }, + { + "time": 4.5674, + "frame": 137, + "progress": 13, + "action_description": "爪夹向爪夹方向后方移动", + "state_description": "当前爪夹张开，此时爪夹进一步靠近烤面包，为完成将烤面包放入面包架的任务应当：爪夹向爪夹方向前方移动靠近烤面包。", + "progress_explanation": "此时爪夹进一步靠近烤面包，因此当前进度提升至13%。", + "error_success_analysis": "当前爪夹向后调整试图靠近烤面包。", + "correction_plan": "爪夹向爪夹方向前方移动靠近烤面包，爪夹合拢抓取烤面包，爪夹抓取烤面包竖直上升，爪夹抓取烤面包向爪夹方向左边移动接近面包架，爪夹抓取烤面包向爪夹方向左边移动至面包夹正上方，爪夹抓取烤面包垂直下降至面包架中，松开爪夹使烤面包落入面包架中。", + "annotations": { + "bbox_1770362062647": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-165326-put-cream bread-oily pan-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..60f11003aa0ba1e701a9b58f56d6f260112c335b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-165326-put-cream bread-oily pan-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,512 @@ +{ + "task_description": "将面包放入盘子中：\n准备移动：0%\n靠近面包：20%\n抓取面包：40%\n抓取面包移动至盘子正上方60%\n抓取面包下降靠近盘子：80%\n松开爪夹使面包落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向前下方移动至面包正上方，爪夹垂直下降靠近面包，爪夹合拢抓取面包，爪夹抓取面包竖直上升，爪夹抓取面包向爪夹方向后方移动至盘子正上方，爪夹抓取面包垂直下降靠近盘子，松开爪夹使面包落入盘中。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动。为完成将面包放入盘子中的任务应当：爪夹向爪夹方向前方移动。", + "time": 1.3167616086291372, + "annotations": { + "bbox_1770365039693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039693_1770367588857_a7462yy2y", + "x": 0.511111052788632, + "y": 0.26331478773479916, + "width": 0.2719999833984385, + "height": 0.26533331174045316 + } + ] + }, + "point_1770365040535": { + "type": "point", + "instances": [ + { + "id": "point_1770365040535_1770367600522_plycptxyg", + "x": 0.45911105596245994, + "y": 0.4499814392104949 + } + ] + }, + "point_1770365040670": { + "type": "point", + "instances": [ + { + "id": "point_1770365040670_1770367602465_o2muunyxx", + "x": 0.5721110490654877, + "y": 0.4659814379084117 + } + ] + }, + "bbox_1770365039553": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039553_1770367610334_gbc2en440", + "x": 0.5051110531548428, + "y": 0.12464813235285382, + "width": 0.12899999212646537, + "height": 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"爪夹合拢抓取面包，爪夹抓取面包竖直上升，爪夹抓取面包向爪夹方向后方移动至盘子正上方，爪夹抓取面包垂直下降靠近盘子，松开爪夹使面包落入盘中。", + "annotations": { + "bbox_1770365039693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039693_1770367468053_kb9pep4s2", + "x": 0.5091110529107022, + "y": 0.2687962783775815, + "width": 0.2719999833984385, + "height": 0.26133331206597393 + } + ] + }, + "bbox_1770365039553": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039553_1770367474493_i1t68puzj", + "x": 0.5071110530327726, + "y": 0.12879628977080976, + "width": 0.1269999922485357, + "height": 0.1626666534288205 + } + ] + } + } + }, + { + "time": 8.799355, + "frame": 264, + "progress": 40, + "action_description": "当前爪夹合拢抓取面包。", + "state_description": "当前爪夹合拢，此时爪夹抓取面包，为完成将面包放入盘子中的任务应当：爪夹抓取面包竖直上升。", + "progress_explanation": "此时爪夹抓取面包，因此当前进度提升至40%。", + "error_success_analysis": "当前爪夹成功合拢抓取面包。", + "correction_plan": "爪夹抓取面包竖直上升，爪夹抓取面包向爪夹方向后方移动至盘子正上方，爪夹抓取面包垂直下降靠近盘子，松开爪夹使面包落入盘中。", + "annotations": { + "point_1770365040535": { + 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"progress_explanation": "此时面包位于盘子正上方，因此当前进度提升至60%。", + "error_success_analysis": "当前爪夹抓取面包移动至盘子正上方。", + "correction_plan": "爪夹抓取面包垂直下降靠近盘子，松开爪夹使面包落入盘中。", + "annotations": { + "bbox_1770365039693": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039693_1770367380226_bljloqcs8", + "x": 0.5101110528496671, + "y": 0.2621296122534495, + "width": 0.2719999833984386, + "height": 0.2586666456163212 + } + ] + }, + "bbox_1770365039553": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365039553_1770367389805_m1cq8w112", + "x": 0.6271110457085542, + "y": 0.12479629009633059, + "width": 0.150999990783692, + "height": 0.17466665245225813 + } + ] + }, + "point_1770365040535": { + "type": "point", + "instances": [ + { + "id": "point_1770365040535_1770367400049_wijquucvk", + "x": 0.6861110421074803, + "y": 0.24079628065622716 + } + ] + } + } + }, + { + "action_description": "当前爪夹合拢抓取面包垂直下降靠近盘子。", + "correction_plan": "松开爪夹使面包落入盘中。", + "error_success_analysis": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-172449-put-toast-oily pan-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-172449-put-toast-oily pan-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..552a6d0fc4ba35831d0dca4bc085106c5ff8a568 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-172449-put-toast-oily pan-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,662 @@ +{ + "task_description": "将面包放入盘子中：\n准备移动：0%\n靠近面包：20%\n抓取面包：40%\n抓取面包移动至盘子正上方60%\n抓取面包下降靠近盘子：80%\n松开爪夹使面包落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": 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solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-183705-put-red-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..e93adc34b74dc07d5544b528b2003fe66c688da8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260114-songjiaqi/20260114-183705-put-red-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,388 @@ +{ + "task_description": "将装有红色溶液的试管放入试管架中：\n准备移动：0%\n靠近装有红色溶液的试管：20%\n抓取装有红色溶液的试管：40%\n抓取装有红色溶液的试管移动至试管架正上方60%\n抓取装有红色溶液的试管下降靠近试管架：80%\n松开爪夹使装有红色溶液的试管落入试管架中：100%", + "progress_points": [ + { + "action_description": "当前爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向右边移动，爪夹垂直下降靠近装有红色溶液的试管，爪夹合拢抓取装有红色溶液的试管，爪夹抓取装有红色溶液的试管竖直上升，爪夹抓取装有红色溶液的试管向爪夹方向左边移动接近试管架，爪夹抓取装有红色溶液的试管向爪夹方向左边移动至试管架正上方，爪夹抓取装有红色溶液的试管下降至试管架中，松开爪夹使装有红色溶液的试管落入试管架中。", + "error_success_analysis": "", + "frame": 52, + "progress": 0, + "progress_explanation": "当前爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成将装有红色溶液的试管放入试管架中的任务应当：爪夹向爪夹方向右边移动。", + "time": 1.7409309994005342, + "annotations": { + "bbox_1770444153015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770444153015_1770444883591_1jz0ydi3w", + "x": 0.26811106762017406, + "y": 0.2284999712320987, + "width": 0.27599998315429786, + "height": 0.2946666426866339 + } + ] + }, + "bbox_1770444152881": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770444152881_1770444899932_h85xbb8b8", + "x": 0.7191110400933203, + "y": 0.24583330315484186, + "width": 0.08099999505615259, + "height": 0.13466665570746617 + } + ] + } + } + }, + { + "action_description": "当前爪夹向爪夹方向右边移动。", + "correction_plan": "爪夹垂直下降靠近装有红色溶液的试管，爪夹合拢抓取装有红色溶液的试管，爪夹抓取装有红色溶液的试管竖直上升，爪夹抓取装有红色溶液的试管向爪夹方向左边移动接近试管架，爪夹抓取装有红色溶液的试管向爪夹方向左边移动至试管架正上方，爪夹抓取装有红色溶液的试管下降至试管架中，松开爪夹使装有红色溶液的试管落入试管架中。", + "error_success_analysis": "当前爪夹成功向爪夹右边移动，使爪夹与装有红色溶液的试管水平距离接近。", + "frame": 73, + "progress": 10, + "progress_explanation": "此时爪夹与装有红色溶液的试管水平距离接近，因此当前进度提升至10%", + "state_description": "当前爪夹张开，此时爪夹与装有红色溶液的试管水平距离接近，为完成将装有红色溶液的试管放入试管架中的任务应当：爪夹垂直下降靠近装有红色溶液的试管。", + "time": 2.44024365745965, + "annotations": { + "bbox_1770444153015": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770444153015_1770444871928_g6ouzgq6s", + "x": 0.262111067986385, + "y": 0.22983330445692512, + "width": 0.27499998321533303, + "height": 0.29999997558593944 + } + ] + } + } + }, + { + "action_description": "当前爪夹垂直下降靠近装有红色溶液的试管。", + "correction_plan": "爪夹合拢抓取装有红色溶液的试管，爪夹抓取装有红色溶液的试管竖直上升，爪夹抓取装有红色溶液的试管向爪夹方向左边移动接近试管架，爪夹抓取装有红色溶液的试管向爪夹方向左边移动至试管架正上方，爪夹抓取装有红色溶液的试管下降至试管架中，松开爪夹使装有红色溶液的试管落入试管架中。", + "error_success_analysis": "当前爪夹垂直下降成功靠近靠近装有红色溶液的试管", + "frame": 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-095022-put-orange-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-095022-put-orange-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..5dfa2382b0e01e70df24ba8e1e98d742a43f1b3e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-095022-put-orange-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,446 @@ +{ + "task_description": 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-134721-put-purple-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-134721-put-purple-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..0fdfe46fa6c36195ce35deb51627f02c6dda7689 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-134721-put-purple-test tube with solution-wooden test tube rack-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,550 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-161155-put-silicone stopper-test tube rack-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-161155-put-silicone stopper-test tube rack-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..8bb08dab4c6ec01ad9ca8bdb1e59f3b81cc01588 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260115-songjiaqi/20260115-161155-put-silicone stopper-test tube rack-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,490 @@ +{ + "task_description": "将塞子塞在试管中：\n准备移动：0%\n靠近塞子：20%\n抓取塞子：40%\n抓取塞子移动接近试管60%\n抓取塞子下降至试管中：80%\n松开爪夹使塞子塞入试管中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前下方移动，爪夹向爪夹方向前下方移动靠近塞子，爪夹合拢抓取塞子，爪夹抓取塞子竖直上升，爪夹抓取塞子向爪夹方向左前方移动接近试管，爪夹抓取塞子向爪夹方向左前方移动至试管正上方，爪夹抓取塞子向爪夹方向下方移动至试管中，松开爪夹使塞子塞入试管中。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成将塞子塞在试管中的任务应当：爪夹向爪夹方向前下方移动。", + "time": 1.0598043141904652, + "annotations": { + "bbox_1770623932119": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770623932119_1770624209007_ot6uv5uxu", + "x": 0.5496665924275761, + "y": 0.6376851287691139, + "width": 0.025999998413086, + "height": 0.051999995768229466 + } + ] + }, + "bbox_1770623931797": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770623931797_1770624216436_a4s8y3q4z", + "x": 0.6766665846761117, + "y": 0.2630184925928961, + "width": 0.04299999737548843, + "height": 0.1906666511501749 + } + ] + }, + "point_1770623933017": { + "type": "point", + "instances": [ + { + "id": 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"爪夹向爪夹方向右下方移动靠近塞子，爪夹合拢抓取塞子，爪夹抓取塞子竖直上升，爪夹抓取塞子向爪夹方向左边移动接近装有红色试剂的试管，爪夹抓取塞子向爪夹方向左边移动至装有红色试剂的试管正上方，爪夹抓取塞子下降至装有红色试剂的试管中，松开爪夹使塞子落入装有红色试剂的试管中。", + "error_success_analysis": "当前爪夹成功向爪夹方向右前方移动并下降，使爪夹与塞子水平距离接近。", + "frame": 63, + "progress": 10, + "progress_explanation": "此时爪夹与塞子水平距离接近，因此当前进度提升至10%。", + "state_description": "当前爪夹张开，此时爪夹与塞子水平距离接近，为完成将塞子放入装有红色试剂的试管中的任务应当：爪夹向爪夹方向右下方移动靠近塞子。", + "time": 2.0851074964198477, + "annotations": { + "point_1770629746744": { + "type": "point", + "instances": [ + { + "id": "point_1770629746744_1770630696681_zvav9jv9v", + "x": 0.41166660085042717, + "y": 0.5033147682035508 + } + ] + }, + "point_1770629746876": { + "type": "point", + "instances": [ + { + "id": "point_1770629746876_1770630699048_o3r4uk0py", + "x": 0.6066665889485724, + "y": 0.5019814349787244 + } + ] + }, + "bbox_1770629745882": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770629745882_1770630707596_709hn54nl", + "x": 0.3056666073201533, + "y": 0.0018333128390858693, + "width": 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"progress_explanation": "此时抓夹空抓，因此当前进度跌落至-10%。", + "state_description": "当前爪夹合拢，此时抓夹空抓，为完成将塞子放入装有红色试剂的试管中的任务应当：松开爪夹。", + "time": 3.9789217875649494, + "annotations": { + "point_1770629746744": { + "type": "point", + "instances": [ + { + "id": "point_1770629746744_1770630624721_fitcdyixd", + "x": 0.5036665952351931, + "y": 0.49531476885459236 + } + ] + }, + "point_1770629746876": { + "type": "point", + "instances": [ + { + "id": "point_1770629746876_1770630626592_pzld7zdkq", + "x": 0.5146665945638065, + "y": 0.49531476885459236 + } + ] + }, + "bbox_1770629746038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770629746038_1770630635833_1ewokaupc", + "x": 0.5196665942586307, + "y": 0.39664811021743895, + "width": 0.0749999954223635, + "height": 0.08799999283854222 + } + ] + }, + "bbox_1770629745882": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770629745882_1770630640511_s6ii1tzf1", + "x": 0.0036666257527694242, + "y": 0.39931477666709175, + "width": 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"error_success_analysis": "当前爪夹略微合拢，爪夹即将抓取塞子。", + "frame": 248, + "progress": 30, + "progress_explanation": "此时爪夹即将抓取塞子。因此当前进度提升至30%。", + "state_description": "当前爪夹略微合拢，此时爪夹即将抓取塞子。为完成将塞子放入装有红色试剂的试管中的任务应当：爪夹合拢抓取塞子。", + "time": 8.254351020604648, + "annotations": { + "point_1770629746744": { + "type": "point", + "instances": [ + { + "id": "point_1770629746744_1770630536875_mggohsy1k", + "x": 0.4526665983479859, + "y": 0.4979814353042452 + } + ] + }, + "point_1770629746876": { + "type": "point", + "instances": [ + { + "id": "point_1770629746876_1770630538867_myq0lhymm", + "x": 0.563666591573084, + "y": 0.500648101753898 + } + ] + }, + "bbox_1770629746038": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770629746038_1770630545717_3pp7nxgpc", + "x": 0.471666597188318, + "y": 0.4646481046835852, + "width": 0.057999996459961164, + "height": 0.08399999316406313 + } + ] + }, + "bbox_1770629745882": { + "type": "bbox", + "instances": [ + { + "id": 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"color": "#2196F3", + "id": "point_1770348957634", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770348957769", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-102620-put-silicone stopper-test tube containing yellow reagent-mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-102620-put-silicone stopper-test tube containing yellow reagent-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..fb18f85f3b78f9aa89c3b23c68abfdc9ca941169 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-102620-put-silicone stopper-test tube containing yellow reagent-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,554 @@ +{ + "task_description": "将硅胶塞放入含有黄色试剂的试管中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近硅胶塞；20%\n爪夹抓取硅胶塞：40%\n爪夹抓住硅胶塞并接近含有黄色试剂的试管：60%\n爪夹将硅胶塞移动至含有黄色试剂的试管上方：80%\n爪夹松开，使硅胶塞放在含有黄色试剂的试管上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "annotations": { + "bbox_1770359925748": { + "instances": [ + { + "height": 0.045333329644097614, + "id": "bbox_1770359925748_1770359950915_9hekojru8", + "width": 0.02399999853515631, + "x": 0.4696665973103883, + "y": 0.6190184636215442 + } + ], + "type": "bbox" + }, + "bbox_1770359925873": { + "instances": [ + { + "height": 0.19333331759982772, + "id": "bbox_1770359925873_1770359955433_h2p7p419u", + "width": 0.028999998229980582, + "x": 0.3196666064656612, + "y": 0.30968515546182 + } + ], + "type": "bbox" + }, + "point_1770359926494": { + "instances": [ + { + "id": "point_1770359926494_1770359947264_56svn803o", + "x": 0.1976666139119498, + "y": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-112210-put-silicone stopper-test tube containing orange reagent-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-112210-put-silicone stopper-test tube containing orange reagent-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..551f1988e38c8e5df1dd303cb905bb50c50b5096 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-112210-put-silicone stopper-test tube containing orange reagent-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,512 @@ +{ + "task_description": 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"爪夹继续向爪夹方向的上方抬起，成功使硅胶塞与桌面的垂直距离再次拉远。", + "frame": 382, + "progress": 55, + "progress_explanation": "爪夹继续向爪夹方向的上方抬起爪夹，使硅胶塞与桌面的垂直距离再次拉远。因此进度提升至55%", + "state_description": "当前爪夹合拢，位于桌面上方。\n为完成将将硅胶塞放在含有橙色试剂的试管上的任务:向爪夹方向的左前方移动，直至硅胶塞处于含有橙色试剂的试管上方。", + "time": 12.740754222075209, + "annotations": { + "bbox_1770362964267": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770362964267_1770363139469_4ciyei8k7", + "x": 0.3766666029866575, + "y": 0.3856851492769247, + "width": 0.020999998718261813, + "height": 0.14133332183159814 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的左前方移动并下降。", + "correction_plan": "向爪夹方向的前方移动，直至硅胶塞处于含有橙色试剂的试管上方，张开爪夹，使硅胶塞落到含有橙色试剂的试管上。", + "error_success_analysis": "爪夹向爪夹方向的左前方移动并下降，成功拉近与含有橙色试剂的试管的水平距离。", + "frame": 418, + "progress": 60, + "progress_explanation": "爪夹向爪夹方向的左前方移动并下降，与含有橙色试剂的试管的水平距离拉近。因此进度提升至60%", + "state_description": "当前爪夹合拢，与含有橙色试剂的试管的水平距离拉近。\n为完成将将硅胶塞放在含有橙色试剂的试管上的任务:向爪夹方向的前方移动，直至硅胶塞处于含有橙色试剂的试管上方。", + "time": 13.924, + "annotations": { 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"当前爪夹合拢，与含有橙色试剂的试管的垂直距离再次拉近。\n为完成将将硅胶塞放在含有橙色试剂的试管上的任务:张开爪夹，使硅胶塞落到含有橙色试剂的试管上。", + "time": 19.6352 + }, + { + "action_description": "爪夹张开，硅胶塞落到含有橙色试剂的试管上。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将硅胶塞放入含有橙色试剂的试管上。", + "frame": 657, + "progress": 100, + "progress_explanation": "硅胶塞已经放在含有橙色试剂的试管上。因此进度提升至100%", + "state_description": "当前爪夹张开，硅胶塞位于含有橙色试剂的试管上。已完成将硅胶塞放入含有橙色试剂的试管上的任务。", + "time": 21.888794883567897 + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770362964137", + "name": "硅胶塞", + "color": "#4CAF50" + }, + { + "id": "bbox_1770362964267", + "name": "含有橙色试剂的试管", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770362964780", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770362964917", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-140500-put-silicone stopper-test tube containing red reagent-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-140500-put-silicone stopper-test tube containing red reagent-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..2d342a93339dad582f338488f55e518bfcbf0f51 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-140500-put-silicone stopper-test tube containing red reagent-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,688 @@ +{ + "task_description": "将硅胶塞放入含有红色试剂的试管上；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近硅胶塞；20%\n爪夹抓取硅胶塞：40%\n爪夹抓住硅胶塞并接近含有红色试剂的试管：60%\n爪夹将硅胶塞移动至含有红色试剂的试管上方：80%\n爪夹松开，使硅胶塞放在含有红色试剂的试管上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达硅胶塞的正上方后下降，合拢爪夹抓取硅胶塞后竖直上升，向爪夹方向的右前方移动，直至硅胶塞处于含有红色试剂的试管上方，张开爪夹，使硅胶塞落到含有红色试剂的试管上。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将将硅胶塞放在含有红色试剂的试管上的任务:向爪夹方向的右前方移动并调整爪夹角度，到达硅胶塞的正上方后下降。", + "time": 1.349368802556756, + "annotations": { + "bbox_1770365755837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755837_1770365795486_ddi3l65bs", + "x": 0.5146665945638065, + "y": 0.6167962398847461, + "width": 0.028999998229980582, + "height": 0.04666666286892394 + } + ] + }, + "bbox_1770365755971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755971_1770365799815_rmgodj6kc", + "x": 0.5496665924275761, + "y": 0.26479626853057714, + "width": 0.03599999780273455, + "height": 0.19466665082465406 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动，同时调整爪夹角度。", + "correction_plan": "继续向爪夹方向的右前方移动并调整爪夹角度，到达硅胶塞的正上方后下降，合拢爪夹抓取硅胶塞后竖直上升，向爪夹方向的右前方移动，直至硅胶塞处于含有红色试剂的试管上方，张开爪夹，使硅胶塞落到含有红色试剂的试管上。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，开始接近硅胶塞。", + "frame": 72, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右前方移动，爪夹已开始移动。因此进度提升至10%", + "state_description": "当前状态为爪夹打开，位于桌面上方。\n为完成将将硅胶塞放在含有红色试剂的试管上的任务:继续向爪夹方向的右前方移动并调整爪夹角度，到达硅胶塞的正上方后下降。", + "time": 2.388028517613707, + "annotations": { + "bbox_1770365755971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755971_1770365806237_qezs4q2wd", + "x": 0.5456665926717167, + "y": 0.2616851593680697, + "width": 0.04099999749755874, + "height": 0.1986666504991333 + } + ] + }, + "bbox_1770365755837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755837_1770365812514_okvh51xem", + "x": 0.5166665944417361, + "y": 0.615018463947065, + "width": 0.026999998352050893, + "height": 0.051999995768229584 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降爪夹。", + "correction_plan": 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"爪夹向爪夹方向的后方移动并抬起爪夹，与含有红色试剂的试管的水平距离拉远。因此进度下降至65%", + "error_success_analysis": "爪夹向爪夹方向的后方移动并抬起爪夹，拉远与含有红色试剂的试管的水平距离。", + "correction_plan": "向爪夹方向的前方移动，直至硅胶塞处于含有红色试剂的试管上方，张开爪夹，使硅胶塞落到含有红色试剂的试管上。", + "annotations": { + "bbox_1770365755971": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755971_1770365965284_4xpdsx4pm", + "x": 0.5476665925496464, + "y": 0.3350184867335216, + "width": 0.031999998046875075, + "height": 0.1226666566840286 + } + ] + }, + "point_1770365758135": { + "type": "point", + "instances": [ + { + "id": "point_1770365758135_1770365968104_ftkpg9636", + "x": 0.6076665888875372, + "y": 0.20035183102605542 + } + ] + }, + "bbox_1770365755837": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770365755837_1770365975083_l704mgrm2", + "x": 0.5846665902913457, + "y": 0.19235183167709702, + "width": 0.019999998779296924, + "height": 0.033333330620659955 + } + ] + } + } + }, + { + "time": 18.154350346170492, + "frame": 545, + "progress": 75, + 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tube-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,870 @@ +{ + "task_description": "将滴管里的红色溶液滴入试管中；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近滴管；20%\n爪夹抓取滴管：40%\n爪夹抓住滴管并接近试管：60%\n爪夹将滴管移动至试管上方：80%\n爪夹合拢，使滴管里的红色溶液滴入试管中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管里的红色溶液滴入试管中。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将滴管里的红色溶液滴入试管中的任务:向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降。", + "time": 1.2007778270039775, + "annotations": { + "bbox_1770369349266": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770369349266_1770369388254_jz8bjlggc", + "x": 0.8176665760701551, + "y": 0.5790184668767524, + "width": 0.05999999633789095, + "height": 0.06266666156684066 + } + ] + }, + "bbox_1770369349394": { + "type": "bbox", + "instances": [ 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tube-mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-155822-put-yellow-solution-test tube-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..56654cabbb6753bb260cb3f204d0ce30bd4c33a5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-155822-put-yellow-solution-test tube-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,354 @@ +{ + "task_description": "将滴管里的黄色溶液滴入试管中；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近滴管；20%\n爪夹抓取滴管：40%\n爪夹抓住滴管并开始接近试管：60%\n爪夹将滴管移动至试管上方：80%\n爪夹合拢，使滴管里的黄色溶液滴入试管中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管里的黄色溶液滴入试管中。", + 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"爪夹向爪夹方向的前方移动并抬起爪夹。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管里的黄色溶液滴入试管中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并抬起爪夹，方便抓取滴管。", + "frame": 69, + "progress": 5, + "progress_explanation": "当前爪夹已开始移动。因此进度提升至5%", + "state_description": "当前爪夹打开，位于桌面上方。\n为完成将滴管里的黄色溶液滴入试管中的任务:向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降。", + "time": 2.2967227761980022, + "annotations": { + "bbox_1770430314249": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770430314249_1770430378035_8ftax32or", + "x": 0.5876665901082403, + "y": 0.2924999660237658, + "width": 0.038999997619629044, + "height": 0.20666664984809166 + } + ] + }, + "bbox_1770430314361": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770430314361_1770430381721_5ssaa7m1z", + "x": 0.7026665830891978, + "y": 0.44183328720432236, + "width": 0.030999998107910275, + "height": 0.13199998925781334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-164025-put-orange-solution-test tube-mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..49531fbaa3d3916ba2d4969b07b703a27a7d4bee --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-164025-put-orange-solution-test tube-mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,450 @@ +{ + "task_description": "将滴管中的橙色溶液滴入试管；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近滴管；20%\n爪夹抓取滴管：40%\n爪夹抓住滴管并接近试管：60%\n爪夹将滴管移动至试管上方：80%\n爪夹合拢，使滴管中的橙色溶液滴入试管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将滴管中的橙色溶液滴入试管的任务:向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降。", + "time": 1.189918688286492, + "annotations": { + "bbox_1770432651645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651645_1770432681208_cdousemj5", + "x": 0.35166660451253634, + "y": 0.2070184971501874, + "width": 0.03999999755859389, + "height": 0.21733331564670283 + } + ] + }, + "bbox_1770432651769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651769_1770432686865_theyk4aim", + "x": 0.478666596761072, + "y": 0.42035181312241104, + "width": 0.03799999768066416, + "height": 0.11866665700954944 + } + ] + }, + "point_1770432653703": { + "type": "point", + "instances": [ + { + "id": "point_1770432653703_1770432691052_0gax5drzi", + "x": 0.29566660793050487, + "y": 0.18568516555296505 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬起，同时调整爪夹角度。", + "correction_plan": 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"action_description": "爪夹半合拢，抓取滴管。", + "state_description": "当前爪夹半合拢，抓住滴管。\n为完成将滴管中的橙色溶液滴入试管的任务:抓取滴管后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "当前爪夹已抓取到滴管。因此进度提升至40%", + "error_success_analysis": "爪夹成功移动至滴管的两侧，半合拢爪夹成功抓取滴管。", + "correction_plan": "抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。" + }, + { + "time": 7.667333, + "frame": 230, + "progress": 50, + "action_description": "爪夹向爪夹方向的上方抬起。", + "state_description": "当前爪夹半合拢，抓住滴管位于烧杯上方。\n为完成将滴管中的橙色溶液滴入试管的任务:向爪夹方向的左前方移动，直至滴管处于试管上方。", + "progress_explanation": "爪夹向爪夹方向的上方抬起，使滴管与烧杯的垂直距离拉远。因此进度提升至50%", + "error_success_analysis": "爪夹成功将滴管向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。", + "annotations": { + "bbox_1770432651769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651769_1770432739985_vjhvfxk2j", + "x": 0.4966665956624392, + "y": 0.3336851535086952, + "width": 0.028999998229980582, + "height": 0.09999999186197985 + } + ] + } + } + }, + { + "time": 9.170880277854287, + 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"error_success_analysis": "爪夹移动方向错误，导致与试管的水平距离进一步拉远。", + "correction_plan": "向爪夹方向的左前方移动并抬起爪夹，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管", + "annotations": { + "bbox_1770432651769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651769_1770432787690_r7y3qkvfq", + "x": 0.471666597188318, + "y": 0.2750184916163337, + "width": 0.01699999896240243, + "height": 0.1319999892578134 + } + ] + } + } + }, + { + "time": 16.571333, + "frame": 497, + "progress": 40, + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "state_description": "当前爪夹半合拢，位于烧杯上方。\n为完成将滴管中的橙色溶液滴入试管的任务:竖直上升，随后向爪夹方向的左前方移动，直至滴管处于试管上方。", + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，回到烧杯上方。因此进度下降至40%", + "error_success_analysis": "爪夹移动方向错误，导致滴管移动回烧杯中。", + "correction_plan": "竖直上升，随后向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。" + }, + { + "time": 17.763800583555078, + "frame": 533, + "progress": 30, + "action_description": "爪夹张开，松开滴管。", + "state_description": "当前爪夹张开，位于滴管两侧。\n为完成将滴管中的橙色溶液滴入试管的任务:半合拢爪夹，抓取滴管后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "当前爪夹松开滴管。因此进度下降至30%", + "error_success_analysis": "爪夹未将滴管中的橙色溶液滴入试管就张开爪夹。", + "correction_plan": "半合拢爪夹，抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。", + "annotations": { + "bbox_1770432651769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651769_1770432797227_flkk3d1uz", + "x": 0.47966659670003675, + "y": 0.42035181312241104, + "width": 0.015999999023437537, + "height": 0.14399998828125102 + } + ] + } + } + }, + { + "time": 19.191704254532063, + "frame": 576, + "progress": 40, + "action_description": "爪夹半合拢，抓取滴管。", + "state_description": "当前爪夹半合拢，抓住滴管。\n为完成将滴管中的橙色溶液滴入试管的任务:抓取滴管后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "当前爪夹已抓取到滴管。因此进度提升至40%", + "error_success_analysis": "爪夹成功移动至滴管的两侧，半合拢爪夹成功抓取滴管。", + "correction_plan": "抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，使滴管中的橙色溶液滴入试管。", + "annotations": { + "bbox_1770432651769": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770432651769_1770432803061_dd0f8wfrl", + "x": 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"point_1770432653592", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770432653703", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-174146-put-blue-solution-test tube-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-174146-put-blue-solution-test tube-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..dbb4e4ce6c9233a5767dabf070aa294c374cab25 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260116-songjiaqi/20260116-174146-put-blue-solution-test tube-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,458 @@ +{ + "task_description": "将滴管中的蓝色溶液滴入试管；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近滴管；20%\n爪夹抓取滴管：40%\n爪夹抓住滴管并开始接近试管：60%\n爪夹将滴管移动至试管上方：80%\n爪夹合拢，将滴管中的蓝色溶液滴入试管：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的左前方移动，直至滴管处于试管上方，合拢爪夹，将滴管中的蓝色溶液滴入试管。", + "error_success_analysis": "", + "frame": 55, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将滴管中的蓝色溶液滴入试管的任务:向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降。", + "time": 1.8235730594864323, + "annotations": { + "bbox_1770436668284": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770436668284_1770436690294_6ubuyimno", + "x": 0.6536665860799202, + "y": 0.2590184929184169, + "width": 0.06199999621582055, + "height": 0.12533332313368142 + } + ] + }, + "bbox_1770436668414": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770436668414_1770436693719_0yc0tgp5q", + "x": 0.753666579976405, + "y": 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90, + "progress_explanation": "爪夹向爪夹方向的下方移动，与试管的垂直距离拉近。因此进度提升至90%", + "state_description": "当前爪夹半合拢，与试管的垂直距离拉近。\n为完成将滴管中的粉红色溶液滴入试管的任务:合拢爪夹，将滴管中的粉红色溶液滴入试管。", + "time": 17.0568, + "annotations": { + "bbox_1770449305625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770449305625_1770449443520_wx71ba422", + "x": 0.6776665846150766, + "y": 0.2910184903142505, + "width": 0.03399999792480477, + "height": 0.1866666514756957 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，滴管中的粉红色溶液滴入试管。", + "correction_plan": "", + "error_success_analysis": "爪夹成功将滴管中的粉红色溶液滴入试管。", + "frame": 539, + "progress": 100, + "progress_explanation": "滴管中的粉红色溶液已经滴入试管。因此进度提升至100%", + "state_description": "当前爪夹合拢，滴管中的粉红色溶液已滴入试管。已完成将滴管中的粉红色溶液滴入试管的任务。", + "time": 17.982678412514698, + "annotations": { + "bbox_1770449305625": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770449305625_1770449447458_f0rd6qnxr", + "x": 0.6776665846150766, + "y": 0.2936851567639033, + "width": 0.03499999786376966, + 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0000000000000000000000000000000000000000..f1eaa1ee08568fce4c65dcdef7ee173e6c932255 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260119-songjiaqi/20260119-152043-put-erlenmeyer flask-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,552 @@ +{ + "task_description": "将锥形瓶放在测试用加热磁力搅拌器上；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近锥形瓶：20%\n爪夹抓取锥形瓶：40%\n爪夹抓住锥形瓶并开始接近测试用加热磁力搅拌器：60%\n爪夹将锥形瓶移动至测试用加热磁力搅拌器上方：80%\n爪夹松开，使锥形瓶落到测试用加热磁力搅拌器上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，暂未移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "", + "frame": 32, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，并未移动，进度为0%", + "state_description": "当前爪夹打开，没有移动。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：向爪夹方向的右前方移动并调整爪夹角度，到达锥形瓶的正上方后下降。", + "time": 1.0773188906124853, + "annotations": { + "bbox_1770456644146": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644146_1770456666716_yylifrpws", + "x": 0.5616665916951542, + "y": 0.38435181605209834, + "width": 0.07099999566650421, + "height": 0.10399999153645899 + } + ] + }, + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456675522_4ifna7t45", + "x": 0.7866665779622448, + "y": 0.43235181214584867, + "width": 0.21599998681640703, + "height": 0.3786666358506969 + } + ] + }, + "point_1770456645041": { + "type": "point", + "instances": [ + { + "id": "point_1770456645041_1770456685633_9cg9ty5y1", + "x": 0.37166660329183326, + "y": 0.4683518092161613 + } + ] + }, + "point_1770456645177": { + "type": "point", + "instances": [ + { + "id": "point_1770456645177_1770456687766_9xirv5qug", + "x": 0.4916665959676149, + "y": 0.47235180889064055 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起并调整爪夹角度。", + "correction_plan": "向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹方向的上方抬起，准备抓取锥形瓶。", + "frame": 56, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的上方抬起，已开始移动。因此进度提升至5%", + "state_description": "当前爪夹打开，位于桌面上方。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 1.865978634802206, + "annotations": { + "point_1770456645041": { + "type": "point", + "instances": [ + { + "id": "point_1770456645041_1770456693768_dpw99j66e", + "x": 0.40766660109456776, + "y": 0.511018472410606 + } + ] + }, + "bbox_1770456644146": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644146_1770456699134_kjtax8jat", + "x": 0.5656665914510136, + "y": 0.3856851492769247, + "width": 0.06199999621582055, + "height": 0.09999999186197985 + } + ] + }, + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456703412_yu7kvad5a", + "x": 0.7826665782063855, + "y": 0.42835181247136944, + "width": 0.2219999864501961, + "height": 0.38399996875000253 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "继续向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功拉近与锥形瓶的水平距离。", + "frame": 78, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与锥形瓶的水平距离略微拉近。因此进度提升至10%", + "state_description": "当前爪夹打开，与锥形瓶的水平距离略微拉近。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：继续向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 2.595, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456719274_nljlymcdm", + "x": 0.7856665780232801, + "y": 0.43368514537067504, + "width": 0.2189999866333016, + "height": 0.3773333026258706 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，进一步拉近与锥形瓶的水平距离。", + "frame": 97, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与锥形瓶的水平距离进一步拉近。因此进度提升至15%", + "state_description": "当前爪夹打开，与锥形瓶的水平距离进一步拉近。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 3.225, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456733758_rnj4xzsnp", + "x": 0.7836665781453503, + "y": 0.43368514537067504, + "width": 0.22099998651123115, + "height": 0.3773333026258704 + } + ] + } + } + }, + { + "action_description": "爪夹合拢，抓取塑料瓶。", + "correction_plan": "张开并抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹未移动至锥形瓶两侧就合拢爪夹，导致抓取目标错误。", + "frame": 124, + "progress": -20, + "progress_explanation": "爪夹抓取目标错误。因此进度下降至-20%", + "state_description": "当前爪夹合拢，抓住塑料瓶。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：张开并抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 4.139999, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456753842_5wdqupsr8", + "x": 0.7856665780232801, + "y": 0.4310184789210222, + "width": 0.2209999865112314, + "height": 0.37599996940104424 + } + ] + } + } + }, + { + "action_description": "爪夹抬起并向爪夹方向的后方移动。", + "correction_plan": "张开爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹抬起并向爪夹方向的后方移动，略微拉远与锥形瓶的水平距离。", + "frame": 139, + "progress": -25, + "progress_explanation": "爪夹抬起并向爪夹方向的后方移动，与锥形瓶的水平距离略微拉远。因此进度下降至-25%", + "state_description": "当前爪夹合拢，与锥形瓶的水平距离略微拉远。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：张开爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 4.635, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456765351_qynnih3oc", + "x": 0.7906665777181041, + "y": 0.43235181214584867, + "width": 0.21299998699951245, + "height": 0.3786666358506969 + } + ] + }, + "bbox_1770456644146": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644146_1770456776436_3ejwmxpns", + "x": 0.5716665910848027, + "y": 0.36568515090452874, + "width": 0.06399999609375025, + "height": 0.09333332573784787 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "张开并抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，略微拉近与锥形瓶的水平距离。", + "frame": 161, + "progress": -20, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，与锥形瓶的水平距离略微拉近。因此进度提升至-20%", + "state_description": "当前爪夹合拢，与锥形瓶的水平距离略微拉近。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：张开并抬起爪夹，向爪夹方向的右前方移动，到达锥形瓶的正上方后下降。", + "time": 5.360823775721362, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456781376_eiywijcxl", + "x": 0.7856665780232801, + "y": 0.43368514537067504, + "width": 0.21999998657226624, + 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"error_success_analysis": "爪夹向爪夹方向的下方略微下降，略微拉近与锥形瓶的垂直距离。", + "frame": 209, + "progress": -10, + "progress_explanation": "爪夹向爪夹方向的下方略微下降，与锥形瓶的垂直距离略微拉近。因此进度提升至-10%", + "state_description": "当前爪夹合拢，与锥形瓶的垂直距离略微拉近。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：张开爪夹，向爪夹方向的前方移动，到达锥形瓶的正上方后下降。", + "time": 6.969071097206283, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456796539_n5iybf8ji", + "x": 0.7846665780843153, + "y": 0.43368514537067504, + "width": 0.22199998645019603, + "height": 0.3799999690755234 + } + ] + } + } + }, + { + "action_description": "爪夹张开，塑料瓶落到桌面。", + "correction_plan": "抬起爪夹，向爪夹方向的前方移动，到达锥形瓶的正上方后下降，合拢爪夹抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹成功放开塑料瓶。", + "frame": 245, + "progress": 10, + "progress_explanation": "爪夹张开，放下塑料瓶。因此进度提升至10%", + "state_description": "当前爪夹张开，位于塑料瓶两侧。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：抬起爪夹，向爪夹方向的前方移动，到达锥形瓶的正上方后下降。", + "time": 8.175, + 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"爪夹抬起并向爪夹方向的前方移动。", + "correction_plan": "下降并合拢爪夹，抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹抬起并向爪夹方向的前方移动，成功接近锥形瓶。", + "frame": 280, + "progress": 20, + "progress_explanation": "爪夹抬起并向爪夹方向的前方移动，拉近与锥形瓶的水平距离。因此进度提升至20%", + "state_description": "当前爪夹张开，拉近与锥形瓶的水平距离。\n为完成将锥形瓶放在测试用加热磁力搅拌器上的任务应当：下降并合拢爪夹，抓取锥形瓶后竖直上升，向爪夹方向的右后方移动。", + "time": 9.345, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456851547_3qsxzhd4v", + "x": 0.7836665781453503, + "y": 0.4310184789210222, + "width": 0.2229999863891611, + "height": 0.3813333023003498 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并下降。", + "correction_plan": "合拢爪夹，抓取锥形瓶后竖直上升，向爪夹方向的右后方移动，直至锥形瓶处于测试用加热磁力搅拌器正上方，张开爪夹，使锥形瓶落到测试用加热磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹方向的前方移动并下降，成功拉近与锥形瓶的垂直距离。", + "frame": 293, + "progress": 30, + "progress_explanation": "爪夹向爪夹方向的前方移动并下降，拉近与锥形瓶的垂直距离。因此进度提升至30%", + 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"锥形瓶已经落到测试用加热磁力搅拌器上。因此进度提升至100%", + "state_description": "当前爪夹张开，锥形瓶已落到测试用加热磁力搅拌器上。已完成将锥形瓶放在测试用加热磁力搅拌器上的任务。", + "time": 13.5, + "annotations": { + "bbox_1770456644306": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456644306_1770456925352_bgm6plqdd", + "x": 0.7856665780232801, + "y": 0.4243518127968902, + "width": 0.2209999865112314, + "height": 0.3893333016493082 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770456644146", + "name": "锥形瓶", + "color": "#4CAF50" + }, + { + "id": "bbox_1770456644306", + "name": "测试用加热磁力搅拌器", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770456645041", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770456645177", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260119-songjiaqi/20260119-155248-put-glass alcohol lamp-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260119-songjiaqi/20260119-155248-put-glass alcohol lamp-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1f1ab8d9f67a59033ca67c2afec48ed8d86579f5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260119-songjiaqi/20260119-155248-put-glass alcohol lamp-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,710 @@ +{ + "task_description": "将玻璃酒精灯放在测试用加热磁力搅拌器上；\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近玻璃酒精灯：20%\n爪夹抓取玻璃酒精灯：40%\n爪夹抓住玻璃酒精灯并开始接近测试用加热磁力搅拌器：60%\n爪夹将玻璃酒精灯移动至测试用加热磁力搅拌器上方：80%\n爪夹松开，使玻璃酒精灯落到测试用加热磁力搅拌器上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达玻璃酒精灯的正上方后下降，合拢爪夹抓取玻璃酒精灯后竖直上升，向爪夹方向的右后方移动，直至玻璃酒精灯处于测试用加热磁力搅拌器上方，张开爪夹，将玻璃酒精灯放在测试用加热磁力搅拌器上。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前爪夹打开，没有移动。\n为完成将玻璃酒精灯放在测试用加热磁力搅拌器上的任务:向爪夹方向的右前方移动并调整爪夹角度，到达玻璃酒精灯的正上方后下降。", + "time": 1.2711446048630168, + "annotations": { + "point_1770607953374": { + "type": "point", + "instances": [ + { + "id": "point_1770607953374_1770608422307_618p0j1i7", + "x": 0.3376666053670284, + "y": 0.3559073756178893 + } + ] + }, + "point_1770607953534": { + "type": "point", + "instances": [ + { + "id": "point_1770607953534_1770608425150_3ahp6snpw", + "x": 0.46166659779866953, + "y": 0.3436110814525487 + } + ] + }, + "bbox_1770607952389": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770607952389_1770608429801_ywp8qv2te", + "x": 0.46466659761556406, + "y": 0.29827775180845123, + "width": 0.07699999530029329, + "height": 0.10533332476128544 + } 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+ "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-092542-put-plastic bottles-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-092542-put-plastic bottles-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..b85ac43a8eda2a1004837c8d99b81996b14d4492 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-092542-put-plastic bottles-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000005.json @@ -0,0 +1,524 @@ +{ + "task_description": 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"爪夹当前的状态为爪夹张开，位于黑色纸板箱上方\n把塑料瓶放进黑色纸板箱已完成", + "time": 12.934484536082474 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770342835006", + "name": "塑料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1770342841058", + "name": "黑色纸板箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770342855306", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770342860327", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-095933-put-plastic bottles-white-plastic box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-095933-put-plastic bottles-white-plastic box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..2e5d4bf120de7e619401ea7c3b3d2ab20da4468a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-095933-put-plastic bottles-white-plastic box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,568 @@ +{ + "task_description": "把塑料瓶放进白色塑料箱里\n开始移动0%\n爪夹靠近塑料瓶20%\n爪夹抓取塑料瓶40%\n爪夹抓取塑料瓶接近白色塑料箱60%\n爪夹将塑料瓶放入白色塑料箱里80%\n爪夹松开，塑料瓶落入白色塑料箱里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770347867539": { + "instances": [ + { + "height": 0.15519125683060106, + "id": "bbox_1770347867539_1770348597474_aikjd97um", + "width": 0.18196721311475406, + "x": 0.5032786885245902, + "y": 0.5486338797814209 + } + ], + "type": "bbox" + }, + "bbox_1770347869122": { + "instances": [ + { + "height": 0.34972677595628415, + "id": "bbox_1770347869122_1770348604374_4b4a9b7vk", + "width": 0.3655737704918033, + "x": 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"state_description": "爪夹当前抓取塑料瓶位于白色塑料箱的上方\n为完成把塑料瓶放进白色塑料箱里的任务：抓取塑料瓶的爪夹向爪夹方向的下方下落将塑料瓶放在白色塑料箱中", + "time": 13.328965517241379 + }, + { + "action_description": "爪夹向爪夹方向的前方略微移动并张开爪夹", + "annotations": { + "bbox_1770347867539": { + "instances": [ + { + "height": 0.2229508196721311, + "id": "bbox_1770347867539_1770348915280_mc6n1qlcb", + "width": 0.11147540983606556, + "x": 0.2934426229508197, + "y": 0.3409836065573771 + } + ], + "type": "bbox" + }, + "bbox_1770347869122": { + "instances": [ + { + "height": 0.36065573770491804, + "id": "bbox_1770347869122_1770348892662_7ip3x5f50", + "width": 0.3672131147540984, + "x": 0.19344262295081968, + "y": 0.21202185792349726 + } + ], + "type": "bbox" + } + }, + "correction_plan": "已完成把塑料瓶放进白色塑料箱里的任务", + "error_success_analysis": "爪夹成功张开，塑料瓶落入下方的白色塑料箱中", + "frame": 423, + "progress": 100, + "progress_explanation": "爪夹张开，抓取的塑料瓶落入白色塑料箱中，因此进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色塑料箱上方\n把塑料瓶放进白色塑料箱里已完成", + "time": 14.09896551724138 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770347867539", + "name": "塑料瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1770347869122", + "name": "白色塑料箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770347878376", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770347883734", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-103103-put-white-plastic spoon-white-plastic box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-103103-put-white-plastic spoon-white-plastic box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..93ee13c6d3082e3e2f4acbdbaa59b05f05bcb1bf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-103103-put-white-plastic spoon-white-plastic box-mix/annotations/chunk-000/observation.images.bird/episode_000000.json @@ -0,0 +1,626 @@ +{ + "task_description": "把白色塑料勺放进白色塑料箱里\n开始移动0%\n爪夹靠近白色塑料勺20%\n爪夹抓取白色塑料勺40%\n爪夹抓取白色塑料勺接近白色塑料箱60%\n爪夹将白色塑料勺放入白色塑料箱里80%\n爪夹松开，白色塑料勺落入白色塑料箱里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770356034971": { + "instances": [ + { + "height": 0.16174863387978147, + "id": "bbox_1770356034971_1770356214670_cangepink", + "width": 0.11803278688524595, + "x": 0.7590163934426231, + "y": 0.46994535519125685 + } + ], + "type": "bbox" + }, + "bbox_1770356038003": { + "instances": [ + { + "height": 0.4349726775956284, + "id": "bbox_1770356038003_1770356224094_sw5sz6k12", + "width": 0.19836065573770495, + "x": 0.7967213114754099, + "y": 0.24262295081967214 + } + ], + "type": "bbox" + }, + "point_1770356041796": { + "instances": [ + { + "id": "point_1770356041796_1770356228626_1uybfp6er", + "x": 0.40983606557377056, + "y": 0.5530054644808743 + } + ], + "type": "point" + }, + "point_1770356046626": { + "instances": [ + { + "id": "point_1770356046626_1770356231268_gtjfh81u0", + "x": 0.5442622950819673, + "y": 0.5595628415300546 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至白色塑料勺的正上方。爪夹垂直下降靠近白色塑料勺，爪夹合拢抓取白色塑料勺。抓紧白色塑料勺向爪夹上方抬升并向右侧的白色塑料箱移动至白色塑料箱正上方。爪夹下落将白色塑料勺放入白色塑料箱中，爪夹张开白色塑料勺落入下方的白色塑料箱中", + "error_success_analysis": "", + "frame": 0, + "progress": 0, + "progress_explanation": "爪夹张开，远离白色塑料勺，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离白色塑料勺，未开始移动。\n为完成把白色塑料勺放进白色塑料箱里的任务：爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至白色塑料勺的正上方", + "time": 0 + }, + { + "action_description": "爪夹开始向爪夹下方调整爪夹角度并向右移动", + "annotations": { + "bbox_1770356034971": { + "instances": [ + { + "height": 0.15519125683060106, + "id": "bbox_1770356034971_1770356239561_85ewxhd40", + 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"爪夹合拢抓取白色塑料勺。抓紧白色塑料勺向爪夹上方抬升并向右前方的白色塑料箱移动至白色塑料箱正上方。爪夹下落将白色塑料勺放入白色塑料箱中，爪夹张开白色塑料勺落入下方的白色塑料箱中", + "error_success_analysis": "爪夹下落至白色塑料勺两侧，方便抓取", + "frame": 483, + "progress": 20, + "progress_explanation": "爪夹向下移动靠近下方的白色塑料勺，因此进度提升为20%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色塑料勺的两侧\n为完成把白色塑料勺放进白色塑料箱里的任务：张开的爪夹做闭合抓取的动作", + "time": 16.113 + }, + { + "action_description": "张开的爪夹做闭合抓取的动作", + "annotations": { + "bbox_1770356038003": { + "instances": [ + { + "height": 0.4437158469945356, + "id": "bbox_1770356038003_1770362918997_op1jwkd44", + "width": 0.20655737704918034, + "x": 0.7918032786885246, + "y": 0.2448087431693989 + } + ], + "type": "bbox" + } + }, + "correction_plan": "抓取白色塑料勺的爪夹向爪夹方向的上方抬升并向右前方向移动至白色塑料箱的上方。爪夹下落将白色塑料勺放入白色塑料箱中，爪夹张开白色塑料勺落入下方的白色塑料箱中", + "error_success_analysis": "爪夹合拢成功抓取白色塑料勺，方便将白色塑料勺向靠近白色塑料箱移动", + "frame": 502, + "progress": 40, + "progress_explanation": "爪夹合拢抓取了白色塑料勺，因此进度提升为40%", + "state_description": 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"爪夹张开，抓取的白色塑料勺落入白色塑料箱中，因此进度提升为100%", + "state_description": "爪夹当前的状态为爪夹张开，位于白色塑料箱上方\n把白色塑料勺放进白色塑料箱里已完成", + "time": 19.192241379310346 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770356034971", + "name": "白色塑料勺" + }, + { + "color": "#FF9800", + "id": "bbox_1770356038003", + "name": "白色塑料箱" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770356041796", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770356046626", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-111850-put-white-plastic spoon-black-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-111850-put-white-plastic spoon-black-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..bc9bf643a128e5cb714411d34a4e1790b08318cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-111850-put-white-plastic spoon-black-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,612 @@ +{ + "task_description": "把白色塑料勺放进黑色纸板箱\n开始移动0%\n爪夹靠近白色塑料勺20%\n爪夹抓取白色塑料勺40%\n爪夹抓取白色塑料勺接近黑色纸板箱60%\n爪夹将白色塑料勺放入黑色纸板箱里80%\n爪夹松开，白色塑料勺落入黑色纸板箱里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770363982017": { + "instances": [ + { + "height": 0.1114754098360656, + "id": "bbox_1770363982017_1770364765511_joku7emdv", + "width": 0.12459016393442619, + "x": 0.5032786885245902, + "y": 0.38907103825136613 + } + ], + "type": "bbox" + }, + "bbox_1770363982493": { + "instances": [ + { + "height": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-135228-put-white-plastic spoon-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..15ac4427a3425d569046d6beaeeed5459434cb54 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-135228-put-white-plastic spoon-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,636 @@ +{ + "task_description": "把白色塑料勺放进黄色快递箱里\n开始移动0%\n爪夹靠近白色塑料勺20%\n爪夹抓取白色塑料勺40%\n爪夹抓取白色塑料勺接近黄色快递箱60%\n爪夹将白色塑料勺放入黄色快递箱80%\n爪夹松开，白色塑料勺落入黄色快递箱100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770371391838": { + "instances": [ + { + "height": 0.10273224043715849, + "id": "bbox_1770371391838_1770371812249_ivd1gqb0g", + "width": 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"point_1770371400486", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770371409353", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-144048-put-red-cube-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-144048-put-red-cube-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..ff1640eb6b18e6128d9a1b11a5a971918a144639 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-144048-put-red-cube-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,700 @@ +{ + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-152207-put-red-cube-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-152207-put-red-cube-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..32dd014e9e863a6d047e347e2f7053f53a5afbdf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260120-152207-put-red-cube-black-cardboard box-mix/annotations/chunk-000/observation.images.bird/episode_000006.json @@ -0,0 +1,362 @@ +{ + "task_description": "把红色的正方体放进黑色纸板箱里\n开始移动0%\n爪夹靠近红色的正方体20%\n爪夹抓取红色的正方体40%\n爪夹抓取红色的正方体接近黑色纸板箱60%\n爪夹将红色的正方体放入黑色纸板箱80%\n爪夹松开，红色的正方体落入黑色纸板箱100%", + "progress_points": [ + { + 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/dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/20260121-movetable/20260120-songjiaqi/20260121-093828-put-yellow-cube-white-plastic box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,388 @@ +{ + "task_description": "把黄色方块放进白色塑料箱里\n开始移动0%\n爪夹靠近黄色方块20%\n爪夹抓取黄色方块40%\n爪夹抓取黄色方块接近白色塑料箱60%\n爪夹将黄色方块放入白色塑料箱里80%\n爪夹松开，黄色方块落入白色塑料箱里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至黄色方块的正上方。爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块。抓紧黄色方块向爪夹上方抬升并向左前方的白色塑料箱移动至白色塑料箱正上方。爪夹下落将黄色方块放入白色塑料箱中，爪夹张开黄色方块落入下方的白色塑料箱中", + "error_success_analysis": "", + "frame": 46, + "progress": 0, + "progress_explanation": "爪夹张开，远离黄色方块，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离白色塑料勺，未开始移动。\n为完成把黄色方块放进白色塑料箱里的任务：爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至黄色方块的正上方", + "time": 1.523043, + "annotations": { + "bbox_1770627917720": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹当前的状态为爪夹张开，位于黄色方块的左前侧的上方\n为了完成把黄色方块放进白色塑料箱里的任务：张开的爪夹向爪夹方向的右后方向移动至黄色方块的正上方", + "time": 2.014347, + "annotations": { + "bbox_1770627917720": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770627917720_1770639009979_78g0xl079", + "x": 0.6165191740412979, + "y": 0.6442477696061485, + "width": 0.04572271386430682, + "height": 0.07079646017699114 + } + ] + }, + "bbox_1770627920821": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770627920821_1770639017311_jhwxdgndo", + "x": 0.35693215339233036, + "y": 0.21160273519120268, + "width": 0.35693215339233036, + "height": 0.3402163225172075 + } + ] + } + } + }, + { + "action_description": "张开的爪夹向爪夹方向的右下方向移动", + "correction_plan": "张开的爪夹向爪夹方向的上方抬升并向前移动至黄色方块的正上方。爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块。抓紧黄色方块向爪夹上方抬升并向左前方的白色塑料箱移动至白色塑料箱正上方。爪夹下落将黄色方块放入白色塑料箱中，爪夹张开黄色方块落入下方的白色塑料箱中", + "error_success_analysis": "爪夹未移动至黄色方块的正上方提前下落", + "frame": 88, + "progress": -5, + "progress_explanation": "爪夹向右下方向下落至黄色方块后侧的桌面上，因此进度降低为-5%", + "state_description": "爪夹当前的状态为爪夹张开，位于黄色方块的后侧\n为了完成把黄色方块放进白色塑料箱里的任务：张开的爪夹向爪夹方向的上方抬升并向前移动至黄色方块的正上方", + "time": 2.931449, + "annotations": { + "bbox_1770627920821": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770627920821_1770639030328_com2g6qy8", + "x": 0.35988200589970504, + "y": 0.2273352818972007, + "width": 0.35988200589970504, + "height": 0.31465093411996065 + } + ] + } + } + }, + { + "action_description": "张开的爪夹闭合并向爪夹方向的左上方向抬升", + "correction_plan": "闭合的爪夹重新张开并向爪夹方向的右侧移动至黄色方块的正上方。爪夹垂直下降靠近黄色方块，爪夹合拢抓取黄色方块。抓紧黄色方块向爪夹上方抬升并向左前方的白色塑料箱移动至白色塑料箱正上方。爪夹下落将黄色方块放入白色塑料箱中，爪夹张开黄色方块落入下方的白色塑料箱中", + "error_success_analysis": "爪夹在黄色方块后方闭合并向远离黄色方块的方向移动", + "frame": 127, + "progress": -10, + "progress_explanation": "爪夹闭合并向左上远离黄色方块的方向移动，因此进度降低为-10%", + "state_description": "爪夹当前的状态为爪机闭合，位于黄色方块的左侧上方\n为了完成把黄色方块放进白色塑料箱里的任务：闭合的爪夹重新张开", + "time": 4.2488, + "annotations": { + "bbox_1770627920821": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770627920821_1770639040665_5fpkam3wy", + "x": 0.3466076696165192, + 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off-paper-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-102417-wipe-stains off-paper-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..89ba9ccd9eeb4fc479bfa43e8cae2fff03707e6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-102417-wipe-stains off-paper-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,484 @@ +{ + "task_description": "用纸把桌子上的污渍擦掉\n开始移动0%\n爪夹靠近纸25%\n爪夹抓取纸50%\n爪夹抓取纸接近桌子上的污渍75%\n爪夹用纸将污渍擦掉100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的前方移动至纸的正上方。爪夹垂直下降靠近纸，爪夹合拢抓取纸。抓紧纸向爪夹上方抬升并向后方的污渍移动至污渍上方。爪夹下落将纸放在桌子上的污渍上，爪夹张开纸落在下方的污渍上，污渍被擦掉", + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-112733-put-foam plug-evaporating dish-mix/annotations/chunk-000/observation.images.left/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-112733-put-foam plug-evaporating dish-mix/annotations/chunk-000/observation.images.left/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..31a40db07bca018af792e21bbf0a5a8c51485852 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-112733-put-foam plug-evaporating dish-mix/annotations/chunk-000/observation.images.left/episode_000002.json @@ -0,0 +1,542 @@ +{ + "task_description": "将海绵塞放入蒸发皿中\n开始移动0%\n爪夹靠近海绵塞20%\n爪夹抓取海绵塞40%\n爪夹抓取海绵塞接近蒸发皿60%\n爪夹将海绵塞放入蒸发皿中80%\n爪夹松开，海绵塞落入蒸发皿中100%", + 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bottle-plastic box-mix/annotations/chunk-000/observation.images.wrist/episode_000002.json @@ -0,0 +1,806 @@ +{ + "task_description": "将药瓶放入塑料盒中\n开始移动0%\n爪夹靠近药瓶20%\n爪夹抓取药瓶40%\n爪夹抓取药瓶接近塑料盒60%\n爪夹将药瓶放入塑料盒中80%\n爪夹松开，药瓶落入塑料盒中100%", + "progress_points": [ + { + "time": 1.278956, + "frame": 38, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成将药瓶放入塑料盒的任务：爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至药瓶的上方", + "progress_explanation": "爪夹张开，远离药瓶，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方移动至药瓶的正上方。爪夹垂直下降靠近药瓶，爪夹合拢抓取药瓶。抓紧药瓶向爪夹上方抬升并向左后方向的塑料盒移动至塑料盒正上方。爪夹下落将药瓶放在塑料盒中，爪夹张开药瓶落在下方的塑料盒中", + "annotations": { + "bbox_1770608558796": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770608558796_1770608705080_k6co1gc3p", + "x": 0.603125, + "y": 0.4216666539510091, + "width": 0.046875, + "height": 0.075 + } + ] + }, + "bbox_1770608564229": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-175322-put-yogurt-basket-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-175322-put-yogurt-basket-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..f5152205008999bb783af88b4e9f4e788e2f0a3b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260114-lilingchu/20260114-175322-put-yogurt-basket-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,542 @@ +{ + "task_description": "把酸奶放进篮子里\n开始移动0%\n爪夹靠近酸奶20%\n爪夹抓取酸奶40%\n爪夹抓取酸奶接近篮子60%\n爪夹将酸奶放入篮子80%\n爪夹松开，酸奶落入篮子100%", + "progress_points": [ + { + "action_description": 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"爪夹酸奶向爪夹上方移动，缩短了酸奶与篮子的距离，方便继续将酸奶向篮子移动靠近。", + "frame": 430, + "progress": 50, + "progress_explanation": "爪夹向上移动靠近篮子的上方，因此进度提升为50%", + "state_description": "爪夹当前抓取酸奶位于篮子的后侧上方\n为完成把酸奶放进篮子里的任务：抓取酸奶的爪夹向爪夹方向的前方移动至篮子的上方", + "time": 14.321493975862067 + }, + { + "action_description": "抓取酸奶的爪夹向爪夹的左前方向移动", + "annotations": { + "bbox_1770536085757": { + "instances": [ + { + "height": 0.2989183874139626, + "id": "bbox_1770536085757_1770536366416_cuxl8f9zf", + "width": 0.24188790560471976, + "x": 0.5383480825958702, + "y": -0.0007866453397707718 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹下落将酸奶放入篮子中，爪夹张开酸奶落入下方的篮子中", + "error_success_analysis": "爪夹抓取酸奶向左前移动至篮子的上方", + "frame": 447, + "progress": 60, + "progress_explanation": "爪夹向左前移动至篮子的上方，因此进度提升为60%", + "state_description": "爪夹当前抓取酸奶位于篮子的上方\n为完成把酸奶放进篮子的任务：抓取酸奶的爪夹向爪夹方向的下方下落将酸奶放在篮子中", + "time": 14.915746837931032 + }, + { + "action_description": "抓取酸奶的爪夹向爪夹方向的下方下落", + "annotations": { + "bbox_1770536085757": { + "instances": [ + { + 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0000000000000000000000000000000000000000..38c028515f7d22b6d1ba9bc00db7f356abdba034 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-095233-put-bread-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,958 @@ +{ + "task_description": "把面包放在篮子里\n开始移动0%\n爪夹靠近面包20%\n爪夹抓取面包40%\n爪夹抓住面包靠近篮子60%\n爪夹将面包移动到篮子上方80%\n爪夹松开，面包落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770368340283": { + "instances": [ + { + "height": 0.203706068948127, + "id": "bbox_1770368340283_1770368396754_srau77xw8", + "width": 0.21591002269407894, + "x": 0.41414316289243763, + "y": 0.5279475801591516 + } + ], + "type": "bbox" + }, + "bbox_1770368340452": { + "instances": [ + { + "height": 0.2239083237198421, + "id": "bbox_1770368340452_1770368414658_75lk0qr3l", + "width": 0.180556334767563, + "x": 0.38131473838924446, + "y": 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+ "progress": -5, + "progress_explanation": "爪夹张开，远离面包。因此进度减少为-5%。", + "state_description": "爪夹张开，向爪夹方向上方移动。远离面包。\n为完成把面包放在篮子里的任务应当：爪夹向爪夹方向正前方的面包移动，同时调整爪夹的角度使其垂直于桌面，并移动的到面包的正上方。", + "time": 1.61629 + }, + { + "action_description": "爪夹向爪夹方向右前方移动", + "annotations": { + "bbox_1770368340283": { + "instances": [ + { + "height": 0.15825099571176818, + "id": "bbox_1770368340283_1770368631011_yjlbzwu6u", + "width": 0.1571926500950333, + "x": 0.4226178987977285, + "y": 0.623975709124571 + } + ], + "type": "bbox" + }, + "bbox_1770368340452": { + "instances": [ + { + "height": 0.3071686588497515, + "id": "bbox_1770368340452_1770368617067_zjwsxi2wn", + "width": 0.24190002509357272, + "x": 0.25536472614763384, + "y": 0.16395680626213027 + } + ], + "type": "bbox" + }, + "point_1770368341292": { + "instances": [ + { + "id": "point_1770368341292_1770368586475_sof3aqyrf", + "x": 0.41414316289243774, + "y": 0.4707078583059588 + } + ], + "type": "point" + }, + "point_1770368341459": { + "instances": [ + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-104305-put-pure milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-104305-put-pure milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..72bfde89d0805254e3dda6cb1ffe8e62be07648c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-104305-put-pure milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,1270 @@ +{ + "task_description": "把纯牛奶放在篮子里\n开始移动0%\n爪夹接近纯牛奶20%\n爪夹抓取纯牛奶40%\n爪夹抓住纯牛奶靠近篮子60%\n爪夹将纯牛奶移动到篮子上方80%\n爪夹松开，纯牛奶落入篮子中100%", + "progress_points": [ + { + 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+ } + } + }, + { + "action_description": "爪夹向爪夹方向下方移动", + "correction_plan": "爪夹向爪夹方向左前方的咸鱼移动，同时调整爪夹的角度使其垂直于桌面，并移动到咸鱼的正上方。接着落下爪夹靠近咸鱼，接近咸鱼后爪夹合拢抓取咸鱼。抓紧咸鱼垂直升高爪夹并向爪夹右前方的篮子靠近，移动到达篮子的正上方，松开爪夹，使咸鱼落入篮子中。", + "error_success_analysis": "爪夹向爪夹方向下方移动，接近面包。", + "frame": 37, + "progress": 5, + "progress_explanation": "爪夹张开，接近咸鱼。因此进度增长为5%。", + "state_description": "爪夹张开，向爪夹方向下方移动。接近咸鱼。\n为完成把咸鱼放在篮子里的任务应当：爪夹向爪夹方向左前方的咸鱼移动，同时调整爪夹的角度使其垂直于桌面，并移动到咸鱼的正上方。", + "time": 1.2270386597938143, + "annotations": { + "bbox_1770617306906": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770617306906_1770617366361_93u47ovhx", + "x": 0.37627811860940696, + "y": 0.24812542603953647, + "width": 0.06748466257668713, + "height": 0.24812542603953644 + } + ] + }, + "bbox_1770617307274": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770617307274_1770617381312_nprjxr161", + "x": 0.5991820040899796, + "y": 0.04907975460122701, + "width": 0.1860940695296523, + "height": 0.2099522835719155 + } + ] + }, + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-142504-put-coffee capsule-basket-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..544d2354b68f525e294a5a1ba42fda384361a111 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-142504-put-coffee capsule-basket-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,436 @@ +{ + "task_description": "把咖啡胶囊放在篮子里\n开始移动0%\n爪夹靠近咖啡胶囊20%\n爪夹抓取咖啡胶囊40%\n爪夹抓住咖啡胶囊靠近篮子60%\n爪夹将咖啡胶囊移动到篮子上方80%\n爪夹松开，咖啡胶囊落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向右前方的咖啡胶囊移动，同时调整爪夹的角度使其垂直于桌面，并移动到咖啡胶囊的正上方。接着落下爪夹靠近咖啡胶囊，接近咖啡胶囊后爪夹合拢抓取咖啡胶囊。抓紧咖啡胶囊垂直升高爪夹并向爪夹右前方的篮子靠近，移动到达篮子的正上方，松开爪夹，使咖啡胶囊落入篮子中。", + "error_success_analysis": 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cookles-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..d8cbec86a6187b71eacc71fa61339b2d2b32fa54 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260115-lilingchu/20260115-151158-put-oreo cookles-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,746 @@ +{ + "task_description": "把奥利奥饼干放在篮子里\n开始移动0%\n爪夹靠近奥利奥饼干20%\n爪夹抓取奥利奥饼干40%\n爪夹抓住奥利奥饼干靠近篮子60%\n爪夹将奥利奥饼干移动到篮子上方80%\n爪夹松开，奥利奥饼干落入篮子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向正前方的奥利奥饼干移动，同时调整爪夹的角度使其垂直于桌面，并移动到奥利奥饼干的正上方。接着落下爪夹靠近奥利奥饼干，接近奥利奥饼干后爪夹合拢抓取奥利奥饼干。抓紧奥利奥饼干垂直升高爪夹并向爪夹左前方的篮子靠近，移动到达篮子的正上方，松开爪夹，使奥利奥饼干落入篮子中。", + "error_success_analysis": "", + "frame": 31, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%", + "state_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-104530-put-gloves-paper box-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-104530-put-gloves-paper box-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..16f45b79f772448a9998a1d15b309169ffad3625 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-104530-put-gloves-paper box-mix-1/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,678 @@ +{ + "task_description": "把手套放在盒子上\n开始移动0%\n爪夹靠近手套20%\n爪夹抓取手套40%\n爪夹抓住手套靠近盒子60%\n爪夹将手套移动到盒子上方80%\n爪夹松开，手套落在盒子上100%", + "progress_points": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-143855-put-oxygen cylinder-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-143855-put-oxygen cylinder-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..136ce1fd20965f9967b95888d873c9136f3bcd54 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260116-lilingchu/20260116-143855-put-oxygen cylinder-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,646 @@ +{ + "task_description": "把氧气瓶放在纸盒上\n开始移动0%\n爪夹靠近氧气瓶20%\n爪夹抓取氧气瓶40%\n爪夹抓住氧气瓶靠近纸盒60%\n爪夹将氧气瓶移动到纸盒上方80%\n爪夹松开，氧气瓶落在纸盒上100%", + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-112550-put-steak-paper box-mix/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-112550-put-steak-paper box-mix/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..6b981ea15c8039d6f8cec9a9ffc8f179f13da322 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-112550-put-steak-paper box-mix/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,760 @@ +{ + "task_description": "把牛排放到纸盒上。\n爪夹开始移动0%\n爪夹靠近牛排20%\n爪夹抓取牛排40%\n爪夹抓住牛排靠近纸盒60%\n爪夹将牛排放到纸盒上方80%\n爪夹松开，牛排落到纸盒上100%", + "progress_points": [ + { + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-163618-put-syringe-paper box-mix/annotations/chunk-000/observation.images.front/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..1204bd83bb5a24db4dc6a7e930ff3eeca9f02439 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-163618-put-syringe-paper box-mix/annotations/chunk-000/observation.images.front/episode_000005.json @@ -0,0 +1,1104 @@ +{ + "task_description": "把注射器放在纸盒上。\n爪夹开始移动0%\n爪夹靠近注射器20%\n爪夹抓取注射器40%\n爪夹抓住注射器靠近纸盒60%\n爪夹将注射器放到纸盒上方80%\n爪夹松开，注射器放到纸盒上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的前上方移动后再向爪夹的左前方向移动，并且爪夹向爪夹的左前方移动的同时下落。接着爪夹向爪夹的右下方向移动至桌面附近合拢爪夹，爪夹向上抬起的过程中张开爪夹，之后爪夹向爪夹的后下方移动至注射器的附近，合拢爪夹向爪夹上方移动，随后爪夹张开。向爪夹下方移动至注射器附近，合拢爪夹未夹取注射器向上方移动的过程中张开爪夹。随后爪夹向爪夹的后下方向移动至注射器附近合拢爪夹并夹取注射器。随后夹取注射器的抓夹向爪夹左上方向移动向纸箱靠近，当爪夹移动至纸箱的上方张开爪夹使注射器落在纸箱上面。", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动，因此进度为0%。", + "state_description": "当前状态为初始状态，爪夹张开未开始移动。\n为了完成把注射器放在纸盒上的任务：爪夹向爪夹的前上方移动后再向爪夹的左前方向移动，并且爪夹向爪夹的左前方移动的同时下落。", + "time": 1.5726495897435897, + "annotations": { + "point_1770446790090": { + "type": "point", + "instances": [ + { + "id": "point_1770446790090_1770628274321_2j7ptp2fa", + "x": 0.5, + "y": 0.1686746987951807 + } + ] + }, + "point_1770446790253": { + "type": "point", + "instances": [ + { + "id": "point_1770446790253_1770628277244_03x7oxxpj", + "x": 0.39759036144578314, + "y": 0.16599732262382863 + } + ] + }, + "bbox_1770446569260": { + "type": "bbox", + "instances": [ + { + "id": 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"name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-175336-put-tourniquet-paper box-mix/annotations/chunk-000/observation.images.right/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-175336-put-tourniquet-paper box-mix/annotations/chunk-000/observation.images.right/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..008e6c90300df721d297fd120e978cf52a235262 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260119-lilinghu/20260119-175336-put-tourniquet-paper box-mix/annotations/chunk-000/observation.images.right/episode_000008.json @@ -0,0 +1,734 @@ +{ + "task_description": "把止血带放在纸盒上。\n爪夹开始移动0%\n爪夹靠近止血带20%\n爪夹抓取止血带40%\n爪夹抓住止血带靠近纸盒60%\n爪夹将止血带放到纸盒上方80%\n爪夹松开，止血带掉落到纸盒上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。\n", + "annotations": { + "bbox_1770464986921": { + "instances": [ + { + "height": 0.20615796519410973, + "id": "bbox_1770464986921_1770628821478_7mny4l7gp", + "width": 0.17068273092369476, + "x": 0.6024096385542169, + "y": 0.41767068273092367 + } + ], + "type": "bbox" + }, + "bbox_1770464987128": { + "instances": [ + { + "height": 0.4685408299866131, + "id": "bbox_1770464987128_1770628837700_umbn5zrx6", + "width": 0.41164658634538165, + "x": 0.5803212851405621, + "y": 0.07228915662650603 + } + ], + "type": "bbox" + }, + "point_1770465004600": { + "instances": [ + { + "id": "point_1770465004600_1770628830516_gton4eizb", + "x": 0.4759036144578313, + "y": 0.40160642570281124 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹上方移动后再向爪夹的前下方向移动至眼镜的正上方，接着爪夹垂直下落至眼镜附近。爪夹合拢夹取眼镜，随后爪夹向爪夹的上方移动的过程中张开爪夹眼镜掉落到桌面上。接着爪夹向爪夹的右方移动，接着爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。接着爪夹向爪夹的后下方向移动至止血带的正上方，爪夹垂直下落并成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "", + "frame": 39, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开。远离止血带。\n为完成把止血带放在纸盒上的任务：爪夹向爪夹上方移动后再向爪夹的前下方向移动至眼镜的正上方，接着爪夹垂直下落至眼镜附近。", + "time": 1.3102564102564103 + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "annotations": { + "bbox_1770464986921": { + "instances": [ + { + "height": 0.2168674698795181, + "id": "bbox_1770464986921_1770628886459_m9nwdi9g6", + "width": 0.1666666666666666, + "x": 0.608433734939759, + "y": 0.4123159303882195 + } + ], + "type": "bbox" + }, + "bbox_1770464987128": { + "instances": [ + { + "height": 0.4899598393574297, + "id": "bbox_1770464987128_1770628876271_oaxui2qpl", + "width": 0.38955823293172687, + "x": 0.6044176706827309, + "y": 0.0535475234270415 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的前下方向移动至眼镜的正上方，接着爪夹垂直下落至眼镜附近。爪夹合拢夹取眼镜，随后爪夹向爪夹的上方移动的过程中张开爪夹眼镜掉落到桌面上。接着爪夹向爪夹的右方移动，接着爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。接着爪夹向爪夹的后下方向移动至止血带的正上方，爪夹垂直下落并成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "爪夹向爪夹的上方移动远离可止血带。", + "frame": 87, + "progress": -5, + "progress_explanation": "爪夹向爪夹的上方移动远离了止血带，因此进度降为-5%。", + "state_description": "当前状态为爪夹张开，远离止血带。\n为了完成把止血带放在纸盒上的任务：爪夹向爪夹的前下方向移动至眼镜的正上方，接着爪夹垂直下落至眼镜附近，爪夹合拢夹取眼镜。", + "time": 2.901282051282051 + }, + { + "action_description": "爪夹向爪夹的前下方向移动。", + "annotations": { + "bbox_1770464986921": { + "instances": [ + { + "height": 0.22222222222222227, + "id": "bbox_1770464986921_1770628898756_7ge89nn3y", + "width": 0.16265060240963852, + "x": 0.6144578313253012, + "y": 0.40963855421686746 + } + ], + "type": "bbox" + }, + "bbox_1770464987128": { + "instances": [ + { + "height": 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"error_success_analysis": "爪夹向爪夹的下方移动靠近止血带。", + "frame": 164, + "progress": 10, + "progress_explanation": "爪夹向爪夹的下方移动靠近止血带，因此进度提升为10%。", + "state_description": "当前状态为爪夹张开，靠近了止血带。\n为了完成把止血带放在纸盒上的任务：爪夹合拢夹取眼镜随后爪夹向爪夹的上方移动的过程中张开爪夹眼镜掉落到桌面上。", + "time": 5.475, + "annotations": { + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633416439_hgtamwgp9", + "x": 0.6084337349397589, + "y": 0.4176706827309237, + "width": 0.16867469879518077, + "height": 0.2115127175368139 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633435171_4e7ejfp7j", + "x": 0.5843373493975903, + "y": 0.06961178045515395, + "width": 0.4076305220883533, + "height": 0.4738955823293173 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向爪夹的上方移动的过程中张开爪夹眼镜掉落到桌面上。接着爪夹向爪夹的右方移动，接着爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。接着爪夹向爪夹的后下方向移动至止血带的正上方，爪夹垂直下落并成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "爪夹合拢夹取了眼镜，没有夹取目标物。", + "frame": 184, + "progress": -10, + "progress_explanation": "爪夹合拢夹取了眼镜，因此进度降为-10%。", + "state_description": "当前状态为爪夹合拢，夹取了眼镜。\n为了完成把止血带放在纸盒上的任务：爪夹向爪夹的上方移动的过程中张开爪夹眼镜掉落到桌面上，接着爪夹向爪夹的右方移动。", + "time": 6.130128205128205, + "annotations": { + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633479921_wsgwel93d", + "x": 0.5943775100401607, + "y": 0.058902275769745646, + "width": 0.3995983935742971, + "height": 0.48192771084337344 + } + ] + }, + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633487980_jkjcajvq6", + "x": 0.608433734939759, + "y": 0.42302543507362783, + "width": 0.1666666666666666, + "height": 0.20348058902275767 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "张开爪夹眼镜掉落到桌面上。接着爪夹向爪夹的右方移动，接着爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。接着爪夹向爪夹的后下方向移动至止血带的正上方，爪夹垂直下落并成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "爪夹夹取眼镜向爪夹的上方移动，为抓取目标物。", + "frame": 226, + "progress": -15, + "progress_explanation": "爪夹夹取眼镜向爪夹的上方移动，因此进度降为-15%。", + "state_description": "当前状态为爪夹合拢，夹取眼镜抬升到空中。\n为了完成把止血带放在纸盒上的任务：张开爪夹眼镜掉落到桌面上，接着爪夹向爪夹的右方移动，爪夹向爪夹的前下方移动至止血带的上方合拢爪夹。", + "time": 7.533974358974358, + "annotations": { + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633501965_6i9urmyln", + "x": 0.6024096385542169, + "y": 0.4149933065595716, + "width": 0.17068273092369476, + "height": 0.21151271753681378 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633513362_yqbid0t58", + "x": 0.5863453815261044, + "y": 0.06693440428380187, + "width": 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0.41767068273092367, + "width": 0.16666666666666669, + "height": 0.20615796519410973 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右方移动。", + "correction_plan": "爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。接着爪夹向爪夹的后下方向移动至止血带的正上方，爪夹垂直下落并成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "爪夹张开，位于止血带的上方。", + "frame": 282, + "progress": 15, + "progress_explanation": "爪夹张开，位于止血带的上方，因此进度提升为15%。", + "state_description": "当前状态为爪夹张开，位于止血带的上方。\n为了完成把止血带放在纸盒上的任务：爪夹向爪夹的前下方移动至止血带的上方合拢爪夹，爪夹未成功夹取止血带向爪夹的上方移动并张开爪夹。", + "time": 9.40576923076923, + "annotations": { + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633628861_v7q6leulq", + "x": 0.6184738955823292, + "y": 0.4203480589022758, + "width": 0.1546184738955824, + "height": 0.20883534136546184 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633674496_wc0mccfz9", + "x": 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"action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "爪夹成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹，止血带成功落到纸盒上。", + "error_success_analysis": "爪夹张开，位于止血带的附近。", + "frame": 429, + "progress": 38, + "progress_explanation": "爪夹张开，位于止血带的附近，因此进度提升为38%。", + "state_description": "当前状态为爪夹张开，位于止血带的附近。\n为了完成把止血带放在纸盒上的任务：爪夹成功夹取止血带，随后爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方。", + "time": 14.3007, + "annotations": { + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633926862_uwkvwq2ej", + "x": 0.6204819277108433, + "y": 0.4123159303882195, + "width": 0.16265060240963852, + "height": 0.2115127175368139 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633933360_wbtt27n8h", + "x": 0.5923694779116466, + "y": 0.07228915662650602, + "width": 0.40562248995983935, + "height": 0.463186077643909 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "error_success_analysis": "爪夹合拢成功夹取止血带。", + "frame": 446, + "progress": 40, + "progress_explanation": "爪夹合拢成功夹取止血带，因此进度提升为40%。", + "state_description": "当前状态为爪夹合拢，成功夹取止血带。\n为了完成把止血带放在纸盒上的任务：爪夹夹取止血带向爪夹的上方移动，爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "time": 14.88076923076923, + "annotations": { + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770633951601_wlbs3y5ug", + "x": 0.5863453815261044, + "y": 0.06961178045515395, + "width": 0.4056224899598394, + "height": 0.468540829986613 + } + ] + }, + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633968632_uu4gilal2", + "x": 0.6024096385542169, + "y": 0.4444444444444445, + "width": 0.18473895582329317, + "height": 0.17938420348058895 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "error_success_analysis": "爪夹保持合拢，成功抓取止血带并抬升。", + "frame": 512, + "progress": 60, + "progress_explanation": "止血带已被抓取并成功开始抬升，因此进度提升为60%。", + "state_description": "当前状态为爪夹合拢，夹取止血带抬升至空中。\n为了完成把止血带放在纸盒上的任务：爪夹继续向爪夹前方移动至纸箱的上方，最后在爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "time": 17.080128205128204, + "annotations": { + "point_1770465004600": { + "type": "point", + "instances": [ + { + "id": "point_1770465004600_1770633975759_8b02jfdr6", + "x": 0.6606425702811245, + "y": 0.40696117804551535 + } + ] + }, + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770633993454_4klxrhjtx", + "x": 0.6506024096385542, + "y": 0.2784471218206158, + "width": 0.16265060240963852, + "height": 0.25435073627844706 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770634014760_p0m3sj7wi", + "x": 0.5983935742971888, + "y": 0.07228915662650602, + "width": 0.39959839357429716, + "height": 0.463186077643909 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "correction_plan": "爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "error_success_analysis": "爪夹合拢，夹取止血带在纸盒的上方。", + "frame": 563, + "progress": 70, + "progress_explanation": "爪夹合拢，夹取止血带在纸盒的上方因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，夹取止血带在纸盒的上方。\n为了完成把止血带放在纸盒上的任务：爪夹垂直下落的同时张开爪夹止血带成功落到纸盒上。", + "time": 18.76474358974359, + "annotations": { + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770634037948_6n87erd9p", + "x": 0.5863453815261044, + "y": 0.058902275769745646, + "width": 0.4096385542168674, + "height": 0.4792503346720213 + } + ] + }, + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770634050586_8mnb6uurm", + "x": 0.7710843373493976, + "y": 0.002677376171352075, + "width": 0.15060240963855415, + "height": 0.15528781793842036 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "张开爪夹止血带成功落到纸盒上。", + "error_success_analysis": "爪夹成功夹取止血带在纸盒的上方。", + "frame": 590, + "progress": 80, + "progress_explanation": "爪夹成功夹取止血带在纸盒的上方，因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，夹取止血带在纸盒的上方。\n为了完成把止血带放在纸盒上的任务：张开爪夹止血带成功落到纸盒上。", + "time": 19.653846153846153, + "annotations": { + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770634067468_ajyega910", + "x": 0.7610441767068272, + "y": 0.00535475234270415, + "width": 0.15060240963855423, + "height": 0.214190093708166 + } + ] + }, + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770634075370_5wabq75rd", + "x": 0.5883534136546185, + "y": 0.05622489959839358, + "width": 0.4036144578313253, + "height": 0.48460508701472554 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "止血带成功落在纸盒上。", + "error_success_analysis": "止血带成功落在纸盒上。", + "frame": 628, + "progress": 100, + "progress_explanation": "止血带成功落在纸盒上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，止血带成功落在纸盒上。\n", + "time": 20.9364, + "annotations": { + "bbox_1770464987128": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464987128_1770634090234_ex2r7x3p2", + "x": 0.5883534136546185, + "y": 0.0642570281124498, + "width": 0.4096385542168674, + "height": 0.4712182061579652 + } + ] + }, + "bbox_1770464986921": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770464986921_1770634104591_pjz8unv2n", + "x": 0.7329317269076305, + "y": 0.11512717536813923, + "width": 0.17670682730923692, + "height": 0.12583668005354753 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770464986921", + "name": "止血带" + }, + { + "color": "#FF9800", + "id": "bbox_1770464987128", + "name": "纸盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770465004434", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770465004600", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-093822-put-teapot-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-093822-put-teapot-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8cba209b8ab737093bb99a9fd9f030a859baf2cf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-093822-put-teapot-paper box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,1278 @@ +{ + "task_description": "把茶壶放在纸盒上\n爪夹开始移动0%\n爪夹靠近茶壶20%\n爪夹抓取茶壶40%\n爪夹抓住茶壶靠近纸盒60%\n爪夹将茶壶放到纸盒上方80%\n爪夹松开，茶壶放到纸盒上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的上方移动后再向爪夹的右方移动至茶杯的上方，接着爪夹向爪夹的下方移动的过程中并调整爪夹的角度使右爪夹置于茶杯上方，合拢爪夹未夹取茶杯，接着张开爪夹向爪夹的右方移动，右爪夹置于茶杯的正上方。爪夹垂直下落过程中合拢爪夹夹取茶杯。接着爪夹向爪夹前上方向移动的同时向左移动，随后爪夹向爪夹前下方向移动的过程中张开爪夹，茶杯掉落在桌面上。爪夹向爪夹后上方向移动的同时向右移动，随后爪夹向爪夹右下方移动至茶壶的附近，合拢爪夹未成功夹取茶壶，爪夹在向爪机右上移动的过程中张开爪夹接着爪夹向爪夹下方移动至茶壶的附近后再向爪夹的上方移动至茶壶上方，随后爪夹在垂直下落过程中合拢爪夹夹取茶壶。爪夹夹取茶壶后向上抬升，随后爪夹夹取茶壶向爪夹前上方向移动的同时向左移动至纸盒的上方，最后爪夹垂直下落使茶壶置于纸盒附近之后张开爪夹茶壶落在纸盒上。", + "error_success_analysis": "", + "frame": 24, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离茶壶，未开始移动。\n为了完成把茶壶放在纸盒上的任务：爪夹向爪夹的上方移动后再向爪夹的右方移动至茶杯的上方，接着爪夹向爪夹的下方移动。", + "time": 0.8012820512820513, + "annotations": { + "bbox_1770472593527": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770472593527_1770632482373_2r73s5xp9", + "x": 0.7771084337349398, + "y": 0.5140562248995983, + "width": 0.10441767068273089, + "height": 0.20883534136546184 + } + ] + }, + "bbox_1770472593714": { + "type": "bbox", + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-113517-put-ground-glass stopper reagent bottle-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,1089 @@ +{ + "task_description": "将试剂瓶放在磁力搅拌器上\n爪夹开始移动0%\n爪夹靠近试剂瓶20%\n爪夹抓取试剂瓶40%\n爪夹抓住试剂瓶靠近磁力搅拌器60%\n爪夹将试剂瓶放到磁力搅拌器上方80%\n爪夹松开，试剂瓶落到磁力搅拌器上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的上方移动后再向爪夹的右方移动至试剂瓶的左上方，接着爪夹垂直下落至试剂瓶的附近，爪夹合拢未夹取试剂瓶，随后张开爪夹。接着爪夹向爪夹的上方移动之后再向爪夹的右方移动至试剂瓶的正上方，爪夹垂直下落至试剂瓶的附近合拢爪夹成功夹取试剂瓶。爪夹夹取试剂瓶向爪夹的左上方移动过程中张开爪夹试剂瓶掉落在桌面上。爪夹抬升置于试剂瓶的上方后爪夹再垂直下落至试剂瓶的附近合拢爪夹夹取试剂瓶，爪夹夹取试剂瓶后向上抬升，接着爪夹向爪夹的左方移动至磁力搅拌器的上方，最后爪夹垂直下落使试剂瓶落在磁力搅拌器上方张开爪夹，试剂瓶落在磁力搅拌器上。", + "error_success_analysis": "", + "frame": 38, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": 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"instances": [ + { + "id": "bbox_1770533472494_1770632309774_l1hv5bwop", + "x": 0.4779116465863454, + "y": 0.4042838018741633, + "width": 0.17670682730923692, + "height": 0.3319946452476573 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770533472494", + "name": "试剂瓶" + }, + { + "color": "#FF9800", + "id": "bbox_1770533472682", + "name": "磁力搅拌器" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770533488596", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770533488743", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-142756-put-dropping bottle-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.right/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-142756-put-dropping bottle-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.right/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..1a47a7f7b5ad54edce6b0e862a3d843ee7c6cf52 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-142756-put-dropping bottle-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.right/episode_000007.json @@ -0,0 +1,516 @@ +{ + "task_description": "把滴瓶放在磁力搅拌器上\n爪夹开始移动0%\n爪夹靠近滴瓶20%\n爪夹抓取滴瓶40%\n爪夹抓住滴瓶靠近磁力搅拌器60%\n爪夹将滴瓶放到磁力搅拌器上80%\n爪夹松开，滴瓶落到磁力搅拌器上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的上方移动后再向爪夹的左前方向移动至滴瓶右上方，接着爪夹垂直下落至滴瓶的附近，爪夹向爪夹上方移动的同时合拢爪夹未成功夹取滴瓶，随后张开爪夹再向爪夹的上方移动，接着爪夹向爪夹的右方移动至滴瓶的正上方。爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶，接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "", + "frame": 33, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离滴瓶未开始移动。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹向爪夹的上方移动后再向爪夹的左前方向移动至滴瓶右上方。", + "time": 1.096916, + "annotations": { + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631207956_e51ptu48y", + "x": 0.3895582329317269, + "y": 0.3132530120481928, + "width": 0.06024096385542168, + "height": 0.16867469879518074 + } + ] + }, + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631239394_soilrv32x", + "x": 0.6526104417670683, + "y": 0.3266398929049531, + "width": 0.34136546184738964, + "height": 0.42838018741633194 + } + ] + }, + "point_1770539225299": { + "type": "point", + "instances": [ + { + "id": "point_1770539225299_1770631258353_1h439lhpj", + "x": 0.3614457831325301, + "y": 0.3614457831325301 + } + ] + }, + "point_1770539225444": { + "type": "point", + "instances": [ + { + "id": "point_1770539225444_1770631260493_i71cqqhhr", + "x": 0.4879518072289157, + "y": 0.40160642570281124 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "爪夹向爪夹的前下方向移动至滴瓶右上方，接着爪夹垂直下落至滴瓶的附近，爪夹向爪夹上方移动的同时合拢爪夹未成功夹取滴瓶，随后张开爪夹再向爪夹的上方移动，接着爪夹向爪夹的右方移动至滴瓶的正上方。爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶，接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹的上方移动远离了滴瓶。", + "frame": 105, + "progress": -5, + "progress_explanation": "爪夹向爪夹的上方移动远离了滴瓶，因此进度降为-5%。", + "state_description": "当前状态为爪夹张开，远离滴瓶。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹向爪夹的左前方向移动至滴瓶右上方，接着爪夹垂直下落至滴瓶的附近。", + "time": 3.5115384615384615, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631273612_7nshzcz1q", + 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"state_description": "当前状态为爪夹合拢，未成功夹取滴瓶。\n为了完成把滴瓶放在磁力搅拌器上的任务：张开爪夹再向爪夹的上方移动，接着爪夹向爪夹的右方移动至滴瓶的正上方。", + "time": 8.0676, + "annotations": { + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631344498_qjx3jdl0w", + "x": 0.3855421686746988, + "y": 0.3132530120481928, + "width": 0.0642570281124498, + "height": 0.1713520749665328 + } + ] + }, + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631354652_08wfvi2r5", + "x": 0.6506024096385542, + "y": 0.3346720214190093, + "width": 0.34538152610441764, + "height": 0.42838018741633205 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "爪夹向爪夹的上方移动，接着爪夹向爪夹的右方移动至滴瓶的正上方。爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶，接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹张开位于滴瓶的附近。", + "frame": 297, + "progress": 20, + "progress_explanation": "爪夹张开位于滴瓶的附近，因此进度提升为20%。", + "state_description": "当前状态为爪夹张开，位于滴瓶的附近。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹向爪夹的上方移动，接着爪夹向爪夹的右方移动至滴瓶的正上方，爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶。", + "time": 9.910199, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631380214_dwthn33jh", + "x": 0.644578313253012, + "y": 0.3373493975903614, + "width": 0.3473895582329319, + "height": 0.42302543507362783 + } + ] + }, + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631390869_df85r0y68", + "x": 0.3895582329317269, + "y": 0.3132530120481928, + "width": 0.06224899598393576, + "height": 0.16599732262382863 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "爪夹向爪夹的右方移动至滴瓶的正上方。爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶，接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹张开向爪夹的上方移动，远离了滴瓶。", + "frame": 349, + "progress": -4, + "progress_explanation": "爪夹张开向爪夹的上方移动，远离了滴瓶，因此进度降为-4%。", + "state_description": 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"当前状态为爪夹张开，位于滴瓶的正上方。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹垂直下落至滴瓶的附近合拢爪夹成功夹取滴瓶接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。", + "time": 12.6243, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631456705_ztvdyseo0", + "x": 0.6485943775100401, + "y": 0.3427041499330656, + "width": 0.34538152610441764, + "height": 0.428380187416332 + } + ] + }, + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631482091_leidgqn18", + "x": 0.38755020080321284, + "y": 0.3105756358768407, + "width": 0.06425702811244985, + "height": 0.17402945113788484 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "合拢爪夹成功夹取滴瓶，接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹向爪夹的下方移动位于滴瓶的附近。", + "frame": 453, + "progress": 35, + "progress_explanation": "爪夹向爪夹的下方移动位于滴瓶的附近，因此进度提升为35%。", + "state_description": "当前状态为爪夹张开，位于滴瓶的附近。\n为了完成把滴瓶放在磁力搅拌器上的任务：合拢爪夹成功夹取滴瓶接着爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方，爪夹垂直下落使滴瓶落在磁力搅拌器上。", + "time": 15.114299, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631498272_losbhy4sq", + "x": 0.646586345381526, + "y": 0.3427041499330656, + "width": 0.3493975903614458, + "height": 0.4257028112449799 + } + ] + }, + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631502800_7pffke92t", + "x": 0.40562248995983935, + "y": 0.43373493975903615, + "width": 0.0381526104417671, + "height": 0.05354752342704151 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹合拢，成功夹取滴瓶。", + "frame": 511, + "progress": 40, + "progress_explanation": "爪夹合拢，成功夹取滴瓶，因此进度提升为40%。", + "state_description": "当前状态为爪夹合拢，成功夹取滴瓶。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹向爪夹的上方移动后向爪夹的右方移动至磁力搅拌器的上方，爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开。", + "time": 17.0316, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631521784_j9idxfgjx", + "x": 0.6506024096385542, + "y": 0.33199464524765726, + "width": 0.34538152610441764, + "height": 0.4337349397590362 + } + ] + }, + "bbox_1770539207456": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207456_1770631527246_iek17s5e5", + "x": 0.4096385542168675, + "y": 0.4444444444444445, + "width": 0.048192771084337324, + "height": 0.037483266398929044 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "爪夹向爪夹的右方移动至磁力搅拌器的上方。爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹合拢，夹取滴瓶于空中靠近磁力搅拌器。", + "frame": 566, + "progress": 50, + "progress_explanation": "爪夹合拢，夹取滴瓶于空中靠近磁力搅拌器，因此进度提升为50%。", + "state_description": "当前状态为爪夹合拢，夹取滴瓶于空中。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹向爪夹的右方移动至磁力搅拌器的上方，爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "time": 18.8742, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631541838_wzvpz1421", + "x": 0.6506024096385542, + "y": 0.33199464524765726, + "width": 0.34538152610441764, + "height": 0.4203480589022758 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的右方移动。", + "correction_plan": "爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹合拢夹取滴瓶向爪机阿德右方移动，位于磁力搅拌器的上方。", + "frame": 648, + "progress": 70, + "progress_explanation": "爪夹合拢夹取滴瓶向爪机阿德右方移动，位于磁力搅拌器的上方，因此进度提升为70%。", + "state_description": "当前状态为爪夹合拢，夹取滴瓶在磁力搅拌器的上方。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹垂直下落使滴瓶落在磁力搅拌器上，最后爪夹张开滴瓶成功落到磁力搅拌器上。", + "time": 21.5883, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631562490_p5hod5w0f", + "x": 0.6526104417670684, + "y": 0.33199464524765726, + "width": 0.34136546184738936, + "height": 0.43641231593038815 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "爪夹张开滴瓶成功落到磁力搅拌器上。", + "error_success_analysis": "爪夹合拢，夹取滴瓶放在磁力搅拌器上。", + "frame": 697, + "progress": 80, + "progress_explanation": "爪夹合拢，夹取滴瓶放在磁力搅拌器上因此进度提升至80%。", + "state_description": "当前状态为爪夹合拢，夹取滴瓶放在磁力搅拌器上。\n为了完成把滴瓶放在磁力搅拌器上的任务：爪夹张开滴瓶成功落到磁力搅拌器上。", + "time": 23.231699, + "annotations": { + "bbox_1770539207641": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770539207641_1770631582777_gd5qzcgfl", + "x": 0.6506024096385542, + "y": 0.32931726907630515, + "width": 0.34538152610441764, + "height": 0.4364123159303883 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + "correction_plan": "已完成把滴瓶放在磁力搅拌器上的任务。", + "error_success_analysis": "已完成把滴瓶放在磁力搅拌器上的任务。", + "frame": 714, + "progress": 100, + "progress_explanation": "爪夹张开，滴瓶落到磁力搅拌器上，因此进度提升至100%。", + "state_description": "当前状态为爪夹张开，滴瓶落到磁力搅拌器上。", + "time": 23.804399, + "annotations": { + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-152530-put-teapot-heated magnetic stirrer-mix-2/annotations/chunk-000/observation.images.wrist/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..baf971d58674a6c1f3764d41f3d826d106754a89 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-152530-put-teapot-heated magnetic stirrer-mix-2/annotations/chunk-000/observation.images.wrist/episode_000007.json @@ -0,0 +1,990 @@ +{ + "task_description": "把茶壶放在磁力搅拌器上\n爪夹开始移动0%\n爪夹靠近茶壶20%\n爪夹抓取茶壶40%\n爪夹抓住茶壶靠近盘子60%\n爪夹将茶壶放到磁力搅拌器上80%\n爪夹松开，茶壶落到磁力搅拌器上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的上方移动后再向爪夹的右方移动。接着爪夹向爪夹的右下方移动至茶壶的左侧，爪夹合拢未夹取茶壶，爪夹张开向爪夹的上方移动后再向爪夹的右方移动至茶壶的上方，随后爪夹垂直下落到茶壶的附近合拢爪夹，接着爪夹夹取茶壶向爪夹的上方移动，移动过程中张开爪夹茶壶掉落在桌面上。爪夹向爪夹的后方移动至茶壶的正上方，随后爪夹垂直下落至茶壶的附近，合拢爪夹夹取茶壶，接着爪夹夹取茶壶向爪夹左上方移动的同时向前移动。随后爪夹向爪夹的前下方移动使茶壶落在磁力搅拌器的上，最后张开爪夹，茶壶掉落在磁力搅拌器上面。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开远离茶壶，未开始移动。\n为完成把茶壶放在磁力搅拌器上的任务：爪夹向爪夹的上方移动后再向爪夹的右方移动。接着爪夹向爪夹的右下方移动至茶壶的左侧。", + "time": 1.134, + "annotations": { + "bbox_1770598840454": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770598840454_1770630714804_25ypwlqg2", + "x": 0.7630522088353413, + "y": 0.47121820615796517, + "width": 0.10843373493975905, + "height": 0.17402945113788473 + } + ] + }, + "bbox_1770598840977": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770598840977_1770630724890_4fhebab8g", + "x": 0.5742971887550201, + "y": 0.26506024096385544, + "width": 0.14859437751004015, + "height": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-163132-put-safety goggles-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-163132-put-safety goggles-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..19584d748254f0ca2377ef114a5d3313676f611d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-163132-put-safety goggles-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000002.json @@ -0,0 +1,1042 @@ +{ + "task_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-171751-put-brown teacup-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..8f2a10aa89274ed881f8ac8b355cc06c037508ca --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-171751-put-brown teacup-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,962 @@ +{ + "task_description": "把茶杯放在磁力搅拌器上\n爪夹开始移动0%\n爪夹靠近茶杯20%\n爪夹抓取茶杯40%\n爪夹抓住茶杯靠近磁力搅拌器60%\n爪夹将茶杯放到磁力搅拌器上80%\n爪夹松开，茶杯放到磁力搅拌器上100%", + "progress_points": [ + { + "action_description": "爪夹张开，为开始移动。", + "correction_plan": 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index 0000000000000000000000000000000000000000..7866bac43215e43d31f998cbf7a4b2165d91275c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-0120lilingchu/20260120-lilingchu/20260120-180656-put-measuring cup-heated magnetic stirrer-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,926 @@ +{ + "task_description": "把量杯放到磁力搅拌器上\n爪夹未开始移动0%\n爪夹靠近量杯20%\n爪夹抓取量杯40%\n爪夹抓住量杯靠近磁力搅拌器60%\n爪夹将量杯放到磁力搅拌器上80%\n爪夹松开，量杯落到磁力搅拌器上100%", + "progress_points": [ + { + "action_description": "爪夹张开，为开始移动。", + "correction_plan": "爪夹向爪夹的上方移动后再向爪夹的前下方移动到网球的附近，合拢爪夹夹取网球，之后爪夹夹取网球向爪夹的上方移动，随后爪夹向爪夹右上方向移动的同时向前移动至磁力搅拌器的上方。随后张开爪夹网球掉落在桌面上。接着爪夹向爪夹的左后方向移动至量杯的上方，随后爪夹垂直下落到量杯的附近合拢爪夹成功夹取量杯。爪夹夹取量杯向爪夹的上方移动后向爪夹的右方移动，接着爪夹向爪夹的右上方向移动的同时向前移动至磁力搅拌器的上方，接着爪夹向爪夹的前下方向移动使量杯落在磁力将搅拌器上面，最后张开爪夹，使量杯落在磁力搅拌器上。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动，因此进度为0%。", + "state_description": 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"当前状态为爪夹张开，靠近了量杯。\n为完成把量杯放到磁力搅拌器上的任务：合拢爪夹夹取网球，之后爪夹夹取网球向爪夹的上方移动，随后爪夹向爪夹右上方向移动的同时向前移动至磁力搅拌器的上方。", + "time": 4.76025641025641, + "annotations": { + "bbox_1770547987347": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770547987347_1770629147044_8lvgk8g74", + "x": 0.19477911646586346, + "y": 0.3855421686746988, + "width": 0.07630522088353413, + "height": 0.11244979919678713 + } + ] + }, + "point_1770548001466": { + "type": "point", + "instances": [ + { + "id": "point_1770548001466_1770629150863_fdjs6l0n4", + "x": 0.44176706827309237, + "y": 0.3614457831325301 + } + ] + }, + "point_1770548001636": { + "type": "point", + "instances": [ + { + "id": "point_1770548001636_1770629153148_apevqp27p", + "x": 0.3493975903614458, + "y": 0.33199464524765726 + } + ] + }, + "bbox_1770547987507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770547987507_1770629161215_q6h1t854f", + "x": 0.5321285140562249, + "y": 0.4712182061579651, + "width": 0.25100401606425715, + "height": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-101137-put-pink-pen-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..78cafe8a8535992a047638553411642364b4d8cf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-101137-put-pink-pen-bowl-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,730 @@ +{ + "task_description": "把钢笔放进碗里\n开始移动0%\n爪夹靠近钢笔25%\n爪夹抓取钢笔50%\n爪夹抓取钢笔移动至碗的上方75%\n爪夹张开，钢笔被放进碗里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向左前方钢笔位置移动，同时调整爪夹角度使其向下，移动至钢笔上方后下降爪夹，下降至钢笔位置合拢爪夹抓取钢笔，之后保持爪夹合拢状态抬升并向爪夹方向右方碗的位置移动，移动至碗的上方后张开爪夹使钢笔落入碗中。", + "error_success_analysis": "", + "frame": 28, + "progress": 0, + "progress_explanation": "当前为初始状态 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-154232-put-crucible-bowl-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..68b5045a711c03adf9dc359dc517d68d368f1733 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-154232-put-crucible-bowl-mix1/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,732 @@ +{ + "task_description": "把坩埚放进碗里\n开始移动0%\n爪夹靠近坩埚25%\n爪夹抓取坩埚50%\n爪夹抓取坩埚移动至碗的上方75%\n爪夹张开，坩埚落入碗中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1770623600649": { + "instances": [ + { + "height": 0.06533333333333337, + "id": "bbox_1770623600649_1770623621374_0ei8bsfq5", + "width": 0.05, + "x": 0.27733331298828123, + "y": 0.40977777099609375 + } + ], 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"color": "#F44336", + "id": "point_1770623607750", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-165510-put-pigment-bowl-mix/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-165510-put-pigment-bowl-mix/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..afb52c7b6097dad2dad310a7d3d3459f15bb675f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-165510-put-pigment-bowl-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,836 @@ +{ + "task_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-175102-put-crucible-pliers-iron-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2079659ee0cc7c86c72378f65b5593f5508288 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260114-guoyijia/20260114-175102-put-crucible-pliers-iron-plate-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,830 @@ +{ + "task_description": "把坩埚钳放到铁板上\n开始移动0%\n爪夹靠近坩埚钳25%\n爪夹抓取坩埚钳50%\n爪夹抓取坩埚钳移动至铁板上方75%\n爪夹张开，坩埚钳落在铁板上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动，", + "correction_plan": "爪夹向爪夹方向右前方坩埚钳位置移动，同时向下调整爪夹角度，移动至坩埚钳上方后下降爪夹，下降至贴紧坩埚钳的位置合拢爪夹抓取坩埚钳，之后保持爪夹合拢状态抬升并向爪夹方向左前方铁板的位置移动，移动至铁板的上方后张开爪夹，使坩埚钳落入铁板中。", + "error_success_analysis": "", + "frame": 14, + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260115-guoyijia/20260115-094326-put-evaporation-dish-tripod-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,726 @@ +{ + "task_description": "把蒸发皿放在三脚架上\n开始移动0%\n爪夹靠近蒸发皿25%\n爪夹抓取蒸发皿50%\n爪夹抓取蒸发皿移动至三脚架上方75%\n爪夹张开，蒸发皿落在三脚架上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动，", + "correction_plan": "爪夹向爪夹方向左前方蒸发皿位置移动，同时向下调整爪夹角度，移动至蒸发皿上方后下降爪夹，下降至贴紧蒸发皿的位置合拢爪夹抓取蒸发皿，之后保持爪夹合拢状态抬升并向爪夹方向左后方三脚架的位置移动，移动至三脚架的上方后张开爪夹，使蒸发皿落在三脚架上。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离蒸发皿\n为完成把蒸发皿放在三脚架上的任务应当：爪夹向爪夹方向左前方蒸发皿位置移动，同时向下调整爪夹角度", + "time": 0.7178, + "annotations": { + "bbox_1770622696146": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622696146_1770622717561_ommgpggog", + "x": 0.24033331298828126, + "y": 0.20311110432942708, + 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"当前状态为爪夹半张开，胶头滴管已被抓取。\n为完成将胶头滴管中的液体滴入量筒中的任务应当：保持爪夹半合拢状态抬升并向爪夹方向左方量筒的位置移动", + "time": 18.9908, + "annotations": { + "bbox_1770621491050": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770621491050_1770621706541_ubeeoqleo", + "x": 0.9313333129882813, + "y": 0.5084444376627605, + "width": 0.05400000000000009, + "height": 0.09066666666666669 + } + ] + }, + "bbox_1770621491227": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770621491227_1770621710809_rzwmyryy8", + "x": 0.29933331298828125, + "y": 0.0004444376627604167, + "width": 0.086, + "height": 0.20133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "correction_plan": "保持爪夹半合拢状态抬升并向爪夹方向左方量筒的位置移动，移动至量筒的上方后完全合拢爪夹挤出胶头滴管中的液体，使胶头滴管中的液体滴入量筒中。", + "error_success_analysis": "胶头滴管成功被爪夹抓取并抬升至空中，", + "frame": 613, + "progress": 60, + "progress_explanation": "爪夹抓取胶头滴管抬升至空中，因此进度提升至60%", + "state_description": "当前状态为爪夹半合拢，抓紧胶头滴管，胶头滴管已被抬升至空中。\n为完成将胶头滴管中的液体滴入量筒中的任务应当：保持爪夹半合拢状态抬升并向爪夹方向左方量筒的位置移动，", + 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+ "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770621491050", + "name": "胶头滴管", + "color": "#4CAF50" + }, + { + "id": "bbox_1770621491227", + "name": "量筒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770621497868", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770621498064", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-095405-put-glue-head-dropper-from-evaporation-dish-into-dropper-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-095405-put-glue-head-dropper-from-evaporation-dish-into-dropper-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..2a00618b93a0b91815cc270cddbf324fe51b4f33 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-095405-put-glue-head-dropper-from-evaporation-dish-into-dropper-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,412 @@ +{ + "task_description": "将蒸发皿中的胶头滴管放入滴瓶中\n开始移动0%\n爪夹抓取胶头滴管抬升至空中25%\n爪夹抓取胶头滴管移动至滴瓶上方50%\n爪夹抓取胶头滴管下降至滴瓶内75%\n爪夹张开，胶头滴管被放在滴瓶里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "annotations": { + "bbox_1770621358360": { + "instances": [ + { + "height": 0.09466666666666669, + "id": "bbox_1770621358360_1770621379427_4o3z769ry", + "width": 0.07600000000000003, + "x": 0.32133331298828127, + "y": 0.1831111043294271 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢状态向爪夹方向左方移动至滴瓶上方后下降，下降至胶头滴管深入滴瓶内后张开爪夹，使胶头滴管落入滴瓶中", + "error_success_analysis": "", + "frame": 20, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹合拢，未开始移动。\n为完成将蒸发皿中的胶头滴管放入滴瓶中的任务应当：爪夹保持合拢状态向爪夹方向左方移动至滴瓶上方后下降", + "time": 0.657899 + }, + { + "action_description": "爪夹向爪夹方向上方抬升移动", + "annotations": { + "bbox_1770621358360": { + "instances": [ + { + "height": 0.0666666666666667, + "id": "bbox_1770621358360_1770621382639_wknw8qf6m", + "width": 0.071, + "x": 0.3243333129882813, + "y": 0.1964444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢状态向爪夹方向左方移动至滴瓶上方后下降，下降至胶头滴管深入滴瓶内后张开爪夹，使胶头滴管落入滴瓶中", + "error_success_analysis": "爪夹抓取胶头滴管成功向上方略微抬升移动", + "frame": 43, + "progress": 25, + "progress_explanation": "胶头滴管已被爪夹抓取并抬升至空中，因此进度提升至25%", + "state_description": "当前状态为爪夹合拢，抓紧胶头滴管。\n为完成将蒸发皿中的胶头滴管放入滴瓶中的任务应当：爪夹保持合拢状态向爪夹方向左方移动至滴瓶上方后下降", + "time": 1.4224159734654724 + }, + { + "action_description": "爪夹向爪夹方向左上方抬升移动", + "annotations": { + "bbox_1770621358360": { + "instances": [ + { + "height": 0.1706666666666667, + "id": 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+} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-152009-wipe-off-water-stains-table-with-a-brown-towel-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-152009-wipe-off-water-stains-table-with-a-brown-towel-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..8a0aa3adfa8f850d40a79262ae2d1d1ce0dc7c17 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-152009-wipe-off-water-stains-table-with-a-brown-towel-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,858 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-172616-put-a-box-pure-milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-172616-put-a-box-pure-milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..c49860a5d8b4dbf4b7ddde48a6ec2831bf413836 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260116-guoyijia/20260116-172616-put-a-box-pure-milk-basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,1014 @@ +{ + "task_description": "把纯牛奶放进篮子里\n开始移动0%\n爪夹靠近纯牛奶25%\n爪夹抓取纯牛奶50%\n爪夹抓取纯牛奶移动至篮子上方75%\n爪夹张开，纯牛奶落入篮子中100%", + "progress_points": [ + { + "time": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-093454-put-a-box-yogurt-basket-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-093454-put-a-box-yogurt-basket-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c96cc821ba5e45a0b07bddaa97dbb4169aa3a77e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-093454-put-a-box-yogurt-basket-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,861 @@ +{ + "task_description": "把桌面上的酸奶放进篮子里\n爪夹开始移动：0%\n爪夹接近酸奶：20%\n爪夹抓取酸奶：40%\n爪夹抓取酸奶移动：60%\n爪夹抓取酸奶靠近篮子：80%\n完全将酸奶放进篮子里：100%", + "progress_points": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-181421-put-carrots-basket-mix/annotations/chunk-000/observation.images.right/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-181421-put-carrots-basket-mix/annotations/chunk-000/observation.images.right/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..4c99f1772d68a592bf78ef033a2ec1e5b33e18d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260119-guoyijia/20260119-181421-put-carrots-basket-mix/annotations/chunk-000/observation.images.right/episode_000000.json @@ -0,0 +1,642 @@ +{ + "task_description": "把桌面上胡萝卜放进篮子里\n爪夹开始移动：0%\n爪夹接近胡萝卜：20%\n爪夹抓取胡萝卜：40%\n爪夹抓取胡萝卜移动：60%\n爪夹抓取胡萝卜靠近篮子：80%\n完全将胡萝卜放进篮子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整爪夹角度使爪夹垂直桌面，爪夹向爪夹方左方移动至胡萝卜上方，爪夹向爪夹方下方移动靠近胡萝卜，爪夹合拢抓取胡萝卜，爪夹保持合拢向爪夹方上方抬升，爪夹向爪夹方右前方移动至篮子上方，爪夹向爪夹方下方移动靠近篮子，爪夹打开将胡萝卜放进篮子里", + "error_success_analysis": "", + "frame": 9, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离桌面上的胡萝卜，未开始移动，\n为完成抓取胡萝卜将胡萝卜完全放进篮子里的任务应当：爪夹调整爪夹角度使爪夹垂直桌面，爪夹向爪夹方左方移动至胡萝卜上方", + "time": 0.3033896090541181, + "annotations": { + "bbox_1770702813563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770702813563_1770804211299_7magol576", + "x": 0.3396666052449581, + "y": 0.14494442586715284, + "width": 0.31199998095703235, + "height": 0.4159999661458362 + } + ] + }, + "point_1770702814308": { + "type": "point", + "instances": [ + { + "id": "point_1770702814308_1770804213203_ae5yig7nr", + "x": 0.29766660780843457, + "y": 0.4702777327247939 + } + ] + }, + "point_1770702814427": { + "type": "point", + "instances": [ + { + "id": 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"爪夹向爪夹方前方的左下方移动靠近胡萝卜", + "correction_plan": "爪夹合拢抓取胡萝卜，爪夹保持合拢向爪夹方上方抬升，爪夹向爪夹方右前方移动至篮子上方，爪夹向爪夹方下方移动靠近篮子，爪夹打开将胡萝卜放进篮子里", + "error_success_analysis": "爪夹向爪夹方前方的左下方移动成功靠近胡萝卜", + "frame": 276, + "progress": 20, + "progress_explanation": "当前爪夹张开靠近胡萝卜因此进度上升为20%", + "state_description": "当前状态为爪夹张开靠近胡萝卜\n为完成抓取胡萝卜将胡萝卜完全放进篮子里的任务应当：爪夹合拢抓取胡萝卜", + "time": 9.184996, + "annotations": { + "bbox_1770702813420": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770702813420_1770804279250_0nsvg8urp", + "x": 0.09366662025960569, + "y": 0.5889443897343434, + "width": 0.061999996215820544, + "height": 0.20266665017361246 + } + ] + }, + "bbox_1770702813563": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770702813563_1770804285235_1t6379gvu", + "x": 0.33366660561116906, + "y": 0.14894442554163204, + "width": 0.3249999801635754, + "height": 0.42266663226996815 + } + ] + } + } + }, + { + "action_description": "爪夹合拢", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260120-guoyijia/20260120-094030-put-eggplant-basket-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260120-guoyijia/20260120-094030-put-eggplant-basket-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e75fc81a975c085f8996f58b7b413063b41ea02e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-20-guoyijia/20260120-guoyijia/20260120-094030-put-eggplant-basket-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,610 @@ +{ + "task_description": "把桌面上的茄子放进篮子里\n爪夹开始移动：0%\n爪夹接近茄子：20%\n爪夹抓取茄子：40%\n爪夹抓取茄子移动：60%\n爪夹抓取茄子靠近篮子：80%\n完全将茄子放进篮子里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整爪夹角度向爪夹方下方移动靠近茄子，爪夹合拢抓取茄子，爪夹保持合拢向爪夹上方抬升，爪夹向爪夹方右前方移动至篮子上方，爪夹向爪夹方下方移动靠近篮子，爪夹打开将茄子放进篮子里", + "error_success_analysis": "", + "frame": 14, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，远离桌面上的茄子，未开始移动，\n为完成抓取茄子将茄子完全放进篮子里的任务应当：爪夹调整爪夹角度向爪夹方下方移动靠近茄子", + "time": 0.474683936087638, + "annotations": { + "bbox_1770702793123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770702793123_1770804390419_9aeepwm77", + "x": 0.5346665933431034, + "y": 0.6342777193784408, + "width": 0.0999999938964848, + "height": 0.1706666527777789 + } + ] + }, + "bbox_1770702793235": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770702793235_1770804394947_scrddlsez", + "x": 0.5886665900472051, + "y": 0.0009444375859018892, + "width": 0.25699998431396587, + "height": 0.3079999749348979 + } + ] + }, + "point_1770702794099": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-105400-put-tweezers-into-plate-mix/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..cc502bf5f685a4af12f49a9cd7be16928cf95848 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-105400-put-tweezers-into-plate-mix/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,776 @@ +{ + "task_description": "将镊子放入盘子中\n爪夹准备移动：0\n爪夹接近镊子：20%\n爪夹抓取镊子：40%\n爪夹夹住镊子接近盘子：60%\n爪夹夹住镊子移动至盘子正上方：880%\n爪夹松开，镊子落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动", + "annotations": { + "bbox_1770355855731": { + "instances": [ + { + "height": 0.13946218897718327, + "id": "bbox_1770355855731_1770366652157_o3bovj9tg", + "width": 0.034865866509372, + "x": 0.33439530770253123, + "y": 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"爪夹当前为张开状态，没有移动，没有接近镊子，为完成将镊子放入盘子中的任务，应当：爪夹抬升向左前方移动，随后下降，接近镊子。", + "time": 0.7944168801955709 + }, + { + "action_description": "爪夹向上抬升，随后向正前方移动", + "annotations": { + "bbox_1770355855731": { + "instances": [ + { + "height": 0.1436883159158858, + "id": "bbox_1770355855731_1770366645445_og1j2aomy", + "width": 0.023772181710935446, + "x": 0.34073455615878073, + "y": 0.36705672274096207 + } + ], + "type": "bbox" + }, + "bbox_1770355860844": { + "instances": [ + { + "height": 0.24088923550604377, + "id": "bbox_1770355860844_1770366641364_f98m2s9gp", + "width": 0.2567395624781029, + "x": 0.5039702039072042, + "y": 0.35649140539420576 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向左前方移动，随后下降，接近镊子，爪夹继续下降，随后爪夹抓取镊子，爪夹夹住镊子向上抬升，随后向右侧移动接近镊子，继续向右侧移动至盘子正上方，爪夹下降，然后爪夹松开，镊子落入盘子中。", + "error_success_analysis": "爪夹向正前方移动，稍微接近了镊子。", + "frame": 51, + "progress": 5, + "progress_explanation": "爪夹向正前方移动，开始接近镊子，因此任务进度提升为5%。", + "state_description": "爪夹当前为张开状态，爪夹没有接近镊子，为完成将镊子放入盘子中的任务，应当：爪夹向左前方移动，随后下降，接近镊子。", + "time": 1.712533 + }, + { + "action_description": "爪夹向正前方移动，随后下降并向左侧轻微移动", + "annotations": { + "bbox_1770355855731": { + "instances": [ + { + "height": 0.14580137938523705, + "id": "bbox_1770355855731_1770366629720_x4jgibaf9", + "width": 0.033281054395309664, + "x": 0.33439530770253123, + "y": 0.3691697862103133 + } + ], + "type": "bbox" + }, + "bbox_1770355860844": { + "instances": [ + { + "height": 0.23666310856734132, + "id": "bbox_1770355860844_1770366634422_5e2sb1ukc", + "width": 0.2535699382499782, + "x": 0.5023853917931418, + "y": 0.35860446886355707 + } + ], + "type": "bbox" + }, + "point_1770355865292": { + "instances": [ + { + "id": "point_1770355865292_1770366621872_rpm5mbjjp", + "x": 0.4136359134056494, + "y": 0.33324770723134195 + } + ], + "type": "point" + }, + "point_1770355872267": { + "instances": [ + { + "id": "point_1770355872267_1770366625283_jwbn53bll", + "x": 0.516648700819703, + "y": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-131048-put-thedouble-sied-into-plate-mix/annotations/chunk-000/observation.images.right/episode_000006.json @@ -0,0 +1,672 @@ +{ + "task_description": "抓取双面胶放入盘中。\n准备开始移动：0%\n爪夹靠近双面胶:20%\n爪夹抓取双面胶:40%\n爪夹抓住双面胶接近盘子:60%\n爪夹夹紧双面胶位于盘子的上方:80%\n爪夹松开，双面胶落入盘中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.09999999186197985, + "id": "bbox_1770685719370_1770685797537_co146pa7j", + "width": 0.09699999407959012, + "x": 0.5561110500420502, + "y": 0.43072219395164435 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.15733332052951496, + "id": "bbox_1770685719986_1770685816305_38dqohu1k", + "width": 0.22899998602295007, + "x": 0.10511107756890395, + "y": 0.25338887504973345 + } + ], + "type": "bbox" + }, + "point_1770685721338": { + "instances": [ + { + "id": "point_1770685721338_1770685781922_iiqh7ceca", + "x": 0.4431110569390223, + "y": 0.4124999664306668 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达双面胶的正上方后下降，抓取双面胶后垂直上升，向爪夹方向的左边移动，直至双面胶处于盘子的正上方。松开爪夹，双面胶落入盘中。", + "error_success_analysis": "", + "frame": 13, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前状态为爪夹打开，没有移动，没有接触双面胶。\n为完成抓取双面胶放入盘中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取双面胶。", + "time": 0.4370214043568404 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。\n", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.10133332508680623, + "id": "bbox_1770685719370_1770685861913_t19vmd7dk", + "width": 0.09799999401855501, + "x": 0.5541110501641204, + "y": 0.42924069789707864 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 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"correction_plan": "向前移动爪夹直到双面胶的正上方，爪夹继续向下抓取双面胶，垂直抬起爪夹，然后向爪夹方向的左侧移动，直至爪夹处于双面胶的正上方。松开爪夹，双面胶落入盘中。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，并且已经移动到了双面胶的上方，方便抓取。", + "frame": 284, + "progress": 25, + "progress_explanation": "当前爪夹已悬空于双面胶的上方，已接近双面胶，因此进度提升为25%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，爪夹已经移动到双面胶的上方。\n为完成抓取双面胶放入盘中的任务应当：继续向下抓取双面胶，然后向爪夹方向的左方移动，直至盘子的上方。\n", + "time": 9.466666666666667 + }, + { + "action_description": "爪夹合拢。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.07999999348958386, + "id": "bbox_1770685719370_1770686221536_gc72sv69m", + "width": 0.07599999536132848, + "x": 0.35711106218804545, + "y": 0.333240705709578 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.1813333185763901, + "id": "bbox_1770685719986_1770686234832_2vwmi7rad", + "width": 0.13799999157714893, + "x": 0.17011107360161903, + "y": 0.2545740454448205 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹张开，继续下降爪夹重新抓取双面胶。夹紧双面胶垂直抬起爪夹，向爪夹方向的左侧移动，直至爪夹处于双面胶的正上方。松开爪夹，双面胶落入盘中。", + "error_success_analysis": "爪夹合拢，并未成功抓取到双面胶。", + "frame": 342, + "progress": 11, + "progress_explanation": "当前爪夹并未成功抓取到双面胶，因此进度下降为11%。", + "state_description": "当前爪夹合拢，但是双面胶向前滑落，爪夹并未抓取到双面胶。\n为完成抓取双面胶放入盘中的任务应当：张开爪夹并下降爪夹重新抓取双面胶。垂直抬起爪夹，向爪夹方向的左侧移动，直至盘子的正上方。", + "time": 11.4 + }, + { + "action_description": "爪夹垂直上升。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.08666665961371584, + "id": "bbox_1770685719370_1770686265984_jbuvs167w", + "width": 0.0899999945068363, + "x": 0.34611106285943216, + "y": 0.3279073728102724 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.18399998502604287, + "id": "bbox_1770685719986_1770686251928_ijqifd9ke", + "width": 0.16099999017334043, + "x": 0.17211107347954874, + "y": 0.25190737899516774 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹并张开爪夹重新抓取双面胶。夹紧双面胶后垂直抬起爪夹，向爪夹方向的左侧移动，直至盘子的正上方。松开爪夹，双面胶落入盘中。\n", + "error_success_analysis": "爪夹垂直上升，水平方向上远离双面胶，方便下降爪夹重新抓取双面胶。", + "frame": 364, + "progress": 13, + "progress_explanation": "当前爪夹在水平方向上虽然距离双面胶较远，但是开始调整爪夹角度发表抓取，因此进度提升为13%。", + "state_description": "当前爪夹合拢，与双面胶的水平距离变远。\n为完成抓取双面胶放入盘中的任务应当：下降爪夹并张开爪夹重新抓取双面胶。夹紧双面胶后垂直抬起爪夹。", + "time": 12.148399 + }, + { + "action_description": "爪夹下降，向爪夹发现的右下方移动。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1770685719370_1770686280752_pct2fbmzf", + "width": 0.08799999462890659, + "x": 0.34611106285943216, + "y": 0.32864811575129266 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.1786666521267373, + "id": "bbox_1770685719986_1770686298072_6sec1ydwb", + "width": 0.10199999377441445, + "x": 0.2311110698784747, + "y": 0.25264812193618796 + } + ], + "type": "bbox" + } + }, + "correction_plan": "下降爪夹并张开爪夹重新抓取双面胶。夹紧双面胶后垂直抬起爪夹，向爪夹方向的左侧移动，直至盘子的正上方。松开爪夹，双面胶落入盘中。", + "error_success_analysis": "爪夹向爪夹方向的右下方移动，下降爪夹高度，在水平方向上成功靠近了双面胶，方便抓取。", + "frame": 372, + "progress": 17, + "progress_explanation": "当前爪夹在水平方向上接近了双面胶，方便下降爪夹抓取双面胶，因此进度提升为17%。", + "state_description": "当前爪夹合拢，与双面胶的水平距离缩短。\n为完成抓取双面胶放入盘中的任务应当：继续下降爪夹并张开爪夹重新抓取双面胶。夹紧双面胶后垂直抬起爪夹。", + "time": 12.4 + }, + { + "action_description": "爪夹下降并且爪夹张开。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.08533332638888945, + "id": "bbox_1770685719370_1770686332599_q8jmokx67", + "width": 0.08799999462890659, + "x": 0.34811106273736186, + "y": 0.32924070603509875 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.1759999856770845, + "id": "bbox_1770685719986_1770686319024_lhgsf4lyq", + "width": 0.22999998596191493, + "x": 0.1041110776299391, + "y": 0.25190737899516774 + } + ], + "type": "bbox" + }, + "point_1770685721002": { + "instances": [ + { + "id": 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"bbox" + } + }, + "correction_plan": "爪夹保持合拢，继续向爪夹方向的左边移动，直至双面胶处于盘子的正上方。松开爪夹，双面胶落入盘中。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左上方移动，在水平方向上更加接近盘子，方便爪夹将双面胶放入盘子中。", + "frame": 445, + "progress": 65, + "progress_explanation": "当前爪夹已抓住双面胶，双面胶与盘子的水平距离缩短，因此进度提升为60%。", + "state_description": "当前爪夹合拢，双面胶与盘子的水平距离缩短。\n为完成抓取双面胶放入盘中的任务应当：爪夹继续合拢，夹紧双面胶向爪夹方向的左侧移动，直至盘子的正上方。", + "time": 14.841488471367148 + }, + { + "action_description": "爪夹夹紧双面胶向爪夹方向的左后方移动到盘子的正上方。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.09333332573784782, + "id": "bbox_1770685719370_1770686465007_a1ymlh1bx", + "width": 0.09999999389648473, + "x": 0.14311107524956815, + "y": 0.2039073829014174 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.17599998567708453, + "id": "bbox_1770685719986_1770686452815_j8rpbfzqw", + "width": 0.19099998834228588, + "x": 0.1421110753106033, + "y": 0.2559073786696469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，双面胶落入盘中。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左后方，并且正确移动到了盘子的正上方。", + "frame": 461, + "progress": 80, + "progress_explanation": "当前爪夹已抓住双面胶，并移动到了盘子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住双面胶处于盘子方向的正上方。\n为完成抓取双面胶放入盘中的任务应当：松开爪夹，双面胶落入盘中。", + "time": 15.377933 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1770685719370": { + "instances": [ + { + "height": 0.08133332671441025, + "id": "bbox_1770685719370_1770686482519_e3o77od2j", + "width": 0.09799999401855504, + "x": 0.17611107323540812, + "y": 0.326574039585446 + } + ], + "type": "bbox" + }, + "bbox_1770685719986": { + "instances": [ + { + "height": 0.18266665180121647, + "id": "bbox_1770685719986_1770686492047_xdssgryyn", + "width": 0.18499998870849677, + "x": 0.14911107488335723, + "y": 0.25190737899516774 + } + ], + "type": "bbox" + }, + "point_1770685721002": { + "instances": [ + { + "id": "point_1770685721002_1770686508695_u52axyp4f", + "x": 0.23011106993950986, 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-142846-put-white glove-into-plate-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..4c179ef05e58d80ecf0ab5a812c73a55f8792453 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-142846-put-white glove-into-plate-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,694 @@ +{ + "task_description": "抓取白色手套放入盘子中。\n准备开始移动：0%\n爪夹靠近白手套：20%\n爪夹抓取白手套：40%\n爪夹夹紧白手套接近盘子：60%\n爪夹夹紧白手套位于盘子的上方：80%\n爪夹松开，白手套落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1770687014338": { + "instances": [ + { + "height": 0.16266666666666663, + "id": "bbox_1770687014338_1770687064985_lrdb0yjse", + "width": 0.12600000000000003, + "x": 0.274375, + "y": 0.3241979166666667 + } + ], + "type": "bbox" + }, + "bbox_1770687014706": { + "instances": [ + { + "height": 0.25600000000000006, + "id": "bbox_1770687014706_1770687072290_dmyen2kdd", + "width": 0.19300000000000006, + "x": 0.546375, + "y": 0.29353125 + } + ], + "type": "bbox" + }, + "point_1770687015914": { + "instances": [ + { + "id": "point_1770687015914_1770687049250_dd9xkmg8w", + "x": 0.5543750000000001, + "y": 0.57353125 + } + ], + "type": "point" + }, + "point_1770687016282": { + "instances": [ + { + "id": "point_1770687016282_1770687053986_0vt5epzle", + "x": 0.6563749999999999, + "y": 0.5668645833333333 + } + ], + "type": "point" + } + }, + "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，到达白手套的正上方后下降，抓取白手套后垂直上升，向爪夹方向的右边移动，直至白手套处于盘子的正上方。松开爪夹，白手套落入盘中。", + "error_success_analysis": "", + "frame": 16, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。\t", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白手套。\n为完成抓取白手套放入盘子中的任务应当：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，准备抓取白手套。", + 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"当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到白手套。\n为完成抓取白手套放入盘子中的任务应当：垂直抬起爪夹，然后向爪夹方向的右后方移动，直至白手套处于盘子的正上方。", + "time": 12.333333333333334 + }, + { + "action_description": "爪夹夹紧白手套竖直上升，并向爪夹方向的右侧移动。", + "annotations": { + "bbox_1770687014706": { + "instances": [ + { + "height": 0.25599999999999995, + "id": "bbox_1770687014706_1770687457352_kurtt5jwt", + "width": 0.19399999999999995, + "x": 0.545375, + "y": 0.29353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹保持合拢，向爪夹方向的右后方移动，直至白手套处于盘子的正上方。松开爪夹，白手套落入盘子中。", + "error_success_analysis": "爪夹竖直上升，成功将白手套向着盘子方向移动，方便将其放入盘子中。", + "frame": 397, + "progress": 45, + "progress_explanation": "当前爪夹已抓住白手套，白手套被抬升至空中，并且向着盘子的方向移动，因此进度提升为45%。", + "state_description": "当前爪夹合拢，白手套被爪夹抬升至空中。\n为完成抓取白手套放入盘子中的任务应当：爪夹向爪夹方向的右后方移动，直至爪夹处于盘子的正上方。", + "time": 13.241901001220674 + }, + { + "action_description": "爪夹夹紧白手套向爪夹方向的右后方移动。", + "annotations": { + "bbox_1770687014338": { + "instances": [ + { + "height": 0.029333330946180722, + "id": 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"bbox" + }, + "bbox_1770687014706": { + "instances": [ + { + "height": 0.25466666666666665, + "id": "bbox_1770687014706_1770687574920_77yme5ksg", + "width": 0.15399999999999991, + "x": 0.5473750000000001, + "y": 0.2961979166666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，白手套落入盘子中。", + "error_success_analysis": "爪夹夹紧白手套略微下降，方便将白手套放入盘子中。", + "frame": 448, + "progress": 90, + "progress_explanation": "当前白手套位于盘子的正上方，因此进度提升为90%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住白手套处于盘子方向的正上方。\n为完成抓取白手套放入盘子中的任务应当：松开爪夹，白手套落入盘子中。", + "time": 14.933333333333334 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1770687014338": { + "instances": [ + { + "height": 0.192, + "id": "bbox_1770687014338_1770687611568_mol2pvv6e", + "width": 0.06100000000000003, + "x": 0.613375, + "y": 0.28686458333333337 + } + ], + "type": "bbox" + }, + "bbox_1770687014706": { + "instances": [ + { + "height": 0.256, + "id": "bbox_1770687014706_1770687592824_w6rzyobhh", + "width": 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cup-into-plate-mix2/annotations/chunk-000/observation.images.left/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-154142-put-measuring cup-into-plate-mix2/annotations/chunk-000/observation.images.left/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..df7f220149240d93aad6d3fa97c4a34790673cc6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-154142-put-measuring cup-into-plate-mix2/annotations/chunk-000/observation.images.left/episode_000004.json @@ -0,0 +1,812 @@ +{ + "task_description": "抓取量杯放入盘子中。\n准备开始移动：0%\n爪夹靠近量杯:20%\n爪夹抓取量杯:40%\n爪夹抓住量杯接近盘子:60%\n爪夹将量杯放入盘子中:80%\n爪夹松开，量杯落入盘中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1770684932212": { + "instances": [ + { + "height": 0.15466666666666656, + "id": "bbox_1770684932212_1770684984995_n6zsh7zu0", + "width": 0.09800153127392619, + "x": 0.5912826762918171, + "y": 0.5883645833333334 + } + ], + "type": "bbox" + }, + "bbox_1770684932451": { + "instances": [ + { + "height": 0.19466666666666665, + "id": "bbox_1770684932451_1770684999403_31ea5u2bk", + "width": 0.2100032813012703, + "x": 0.7262847856997766, + "y": 0.4096979166666667 + } + ], + "type": "bbox" + }, + "point_1770684933115": { + "instances": [ + { + "id": "point_1770684933115_1770684969947_wfq1agbrm", + "x": 0.8962874419912812, + "y": 0.5550312500000001 + } + ], + "type": "point" + }, + "point_1770684933291": { + "instances": [ + { + "id": "point_1770684933291_1770684974555_yjiypr4ol", + "x": 0.9962890045156956, + "y": 0.52703125 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，到达量杯的正上方后下降，抓取量杯后垂直上升，然后向爪夹方向的右前方移动，直至量杯处于盘子的正上方。松开爪夹，量杯落入盘中。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触量杯。\n为完成抓取量杯放入盘子中的任务应当：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，准备抓取量杯。", + "time": 0.39131298132469056 + }, + { + "action_description": "爪夹下降并向爪夹方向的下方调整角度，使其接近于垂直桌面。\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1770684932212": { + "instances": [ + { + "height": 0.15333333333333338, + "id": "bbox_1770684932212_1770685045499_lz6aogw7u", + "width": 0.10000156252441447, + "x": 0.5892826450413288, + "y": 0.5883645833333334 + } + ], + "type": "bbox" + }, + "bbox_1770684932451": { + "instances": [ + { + "height": 0.19600000000000004, + "id": "bbox_1770684932451_1770685026099_gki5oim83", + "width": 0.20300317192456124, + "x": 0.7262847856997765, + "y": 0.40836458333333336 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左后方移动，到达量杯的正上方后下降，抓取量杯后垂直上升，然后向爪夹方向的右前方移动，直至量杯处于盘子的正上方。松开爪夹，量杯落入盘中。", + "error_success_analysis": "爪夹向爪夹方向的前方移动，水平方向上成功接近量杯，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 41, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上略微接近量杯并开始调整爪夹角度方便抓取，因此进度提升为5%。", + "state_description": "当前爪夹张开，爪夹与量杯的距离略微缩短。\n为完成抓取量杯放入盘子中的任务应当：继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左前方移动，准备抓取量杯。", + "time": 1.367476892386866 + }, + { + "action_description": "爪夹向爪夹方向的左下方下降至黄瓜的正上方。", + "annotations": { + "bbox_1770684932212": { + "instances": [ + { + "height": 0.15333333333333338, + "id": "bbox_1770684932212_1770685063875_02sb1z6pr", + "width": 0.09700151564868201, + "x": 0.5932827075423053, + "y": 0.5896979166666667 + } + ], + "type": "bbox" + }, + "bbox_1770684932451": { + "instances": [ + { + "height": 0.1946666666666667, + "id": "bbox_1770684932451_1770685082051_5wo3lvo0x", + "width": 0.2090032656760262, + "x": 0.7262847856997765, + "y": 0.40969791666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹竖直上升，向爪夹方向的左后方移动，直至量杯的正上方。爪夹下降，抓取量杯后垂直上升，然后向爪夹方向的右前方移动，直至量杯处于盘子的正上方。松开爪夹，量杯落入盘中。", + "error_success_analysis": "爪夹向爪夹方向的左下方移动，并且移动到了错误物体的上方，不利于抓取量杯。", + "frame": 74, + "progress": -10, + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-161019-put-syringe-into-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-161019-put-syringe-into-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..876bc460c20981a39fd952353d2e79f3b3dfa677 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-161019-put-syringe-into-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000004.json @@ -0,0 +1,926 @@ +{ + "task_description": "抓取注射器放入培养皿中。\n准备开始移动：0%\n爪夹靠近注射器：20%\n爪夹抓取注射器：40%\n爪夹夹紧注射器抬升至空中：60%\n爪夹夹紧注射器靠近培养皿：80%\n爪夹松开，注射器落入培养皿中中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-181009-put-toast bread-into-plate-mix2/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..14ddac06ecc616b2ea7bff1a274917dc848b6a5a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260114-niumingliang/20260114-181009-put-toast bread-into-plate-mix2/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,574 @@ +{ + "task_description": "抓取面包放入盘子中。\n准备开始移动：0%\n爪夹靠近面包：20%\n爪夹抓取面包：40%\n爪夹夹紧面包接近盘子：60%\n爪夹夹紧面包位于盘子的上方：80%\n爪夹松开，面包落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1770774770259": { + "instances": [ + { + "height": 0.18666666666666665, + "id": "bbox_1770774770259_1770771336061_6dbiy4o2w", + "width": 0.11899999999999995, + "x": 0.6363333129882813, + "y": 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"当前状态为爪夹打开，没有移动，没有接触面包。\n为完成抓取面包放入盘子中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取面包。", + "time": 0.8820157490782433 + }, + { + "action_description": "爪夹向爪夹方向的下方移动，并调整爪夹角度，使其接近于垂直桌面\t\t\t\t\t\t\t\t\t\t\t\t\n", + "annotations": { + "bbox_1770774770259": { + "instances": [ + { + "height": 0.18400000000000002, + "id": "bbox_1770774770259_1770771371548_fn1vob8k7", + "width": 0.12000000000000002, + "x": 0.6363333129882813, + "y": 0.18755555216471356 + } + ], + "type": "bbox" + }, + "bbox_1770774770458": { + "instances": [ + { + "height": 0.27199999999999996, + "id": "bbox_1770774770458_1770771382916_mdqgsa2rz", + "width": 0.20600000000000002, + "x": 0.3273333129882813, + "y": 0.4608888854980469 + } + ], + "type": "bbox" + }, + "point_1770774771410": { + "instances": [ + { + "id": "point_1770774771410_1770771364917_ws4nowzhc", + "x": 0.5843333129882813, + "y": 0.5017777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达面包的正上方后下降，抓取面包后垂直上升，向爪夹方向的左后方移动，直至面包处于盘子的正上方。松开爪夹，面包落入盘子中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，水平方向上成功接近面包，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 50, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上略微接近面包，并开始调整爪夹角度方便抓取，因此进度提升为5%。\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\n", + "state_description": "当前爪夹张开，与面包的水平距离略微缩短。\n为完成抓取面包放入盘子中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取面包。", + "time": 1.6666666666666667 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其与桌面垂直。", + "annotations": { + "bbox_1770774770259": { + "instances": [ + { + "height": 0.18533333333333332, + "id": "bbox_1770774770259_1770771408373_bgjvjwvzz", + "width": 0.11999999999999993, + "x": 0.6353333129882813, + "y": 0.18488888549804688 + } + ], + "type": "bbox" + }, + "bbox_1770774770458": { + "instances": [ + { + "height": 0.27066666666666667, + "id": "bbox_1770774770458_1770771392037_dgpc8qiyq", + "width": 0.20400000000000004, + "x": 0.3283333129882812, + "y": 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cup-into-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..c8d6503d9ff7f7a53f5d5d523e568a9905cea859 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-091852-put-pink cup-into-plate-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,672 @@ +{ + "task_description": "抓取粉色的桶放入盘子里。\n准备开始移动：0%\n爪夹靠近粉色的桶：20%\n爪夹抓取粉色的桶：40%\n爪夹夹紧粉色的桶接近盘子：60%\n爪夹夹紧粉色的桶位于盘子的上方：80%\n爪夹松开，粉色的桶落入盘子中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1770773939532": { + "instances": [ + { + "height": 0.14533332150607736, + "id": "bbox_1770773939532_1770774131347_pwijqbpe9", + "width": 0.09199999438476594, + "x": 0.5591110498589447, + "y": 0.25516664590115185 + } + ], + "type": "bbox" + }, + "bbox_1770773939787": { + "instances": [ + { + "height": 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-100446-put-tweezers-into-white box-mix/annotations/chunk-000/observation.images.front/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-100446-put-tweezers-into-white box-mix/annotations/chunk-000/observation.images.front/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..1c3a773fbfa7070aec559891a99d75686de5e997 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-100446-put-tweezers-into-white box-mix/annotations/chunk-000/observation.images.front/episode_000009.json @@ -0,0 +1,932 @@ +{ + "task_description": "抓取镊子放进白色盒子里。\n准备开始移动：0%\n爪夹靠近镊子：20%\n爪夹抓取镊子：40%\n爪夹夹紧镊子接近白色盒子：60%\n爪夹夹紧镊子位于白色盒子的上方：80%\n爪夹松开，镊子落入白色盒子中：100%", + "progress_points": [ + 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"bbox_1770773043304", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770773044040", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770773044256", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-110037-put-double-sided tape-into-white box-mix/annotations/chunk-000/observation.images.right/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-110037-put-double-sided tape-into-white box-mix/annotations/chunk-000/observation.images.right/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..813dc0162dcb1680811f2897ea336e0dd659ffa3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-110037-put-double-sided tape-into-white box-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,730 @@ +{ + "task_description": "抓取双面胶放入白色盒子中。\n准备开始移动：0%\n爪夹靠近双面胶:20%\n爪夹抓取双面胶:40%\n爪夹抓住双面胶接近白色盒子:60%\n爪夹夹紧双面胶位于白色盒子的上方:80%\n爪夹松开，双面胶落入白色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "bbox_1770772152443": { + "instances": [ + { + "height": 0.11466666666666665, + "id": "bbox_1770772152443_1770772369618_q2gkl4or5", + "width": 0.11499999999999995, + "x": 0.4613333129882813, + "y": 0.5324444376627604 + } + ], + "type": "bbox" + }, + "bbox_1770772152691": { + "instances": [ + { + "height": 0.20533333333333334, + "id": "bbox_1770772152691_1770772387170_jq0selgrg", + "width": 0.213, + "x": 0.15033331298828123, + "y": 0.15288888549804688 + } + ], + "type": "bbox" + }, + "point_1770772153643": { + "instances": [ + { + "id": "point_1770772153643_1770772381154_stskom05j", + "x": 0.36733331298828126, + "y": 0.3595555521647135 + } + ], + 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"当前爪夹合拢，垂直于桌面，抓住双面胶处于白色盒子的正上方。\n为完成抓取双面胶放入白色盒子中的任务应当：松开爪夹，双面胶落入白色盒子中。", + "time": 15.428133 + }, + { + "action_description": "爪夹张开。", + "annotations": { + "bbox_1770772152691": { + "instances": [ + { + "height": 0.28133333333333327, + "id": "bbox_1770772152691_1770773171751_2d1pgo9av", + "width": 0.20999999999999996, + "x": 0.15933331298828127, + "y": 0.16311110432942708 + } + ], + "type": "bbox" + } + }, + "correction_plan": "双面胶位于白色盒子中，已完成抓取双面胶放入白色盒子中的任务。", + "error_success_analysis": "爪夹张开，双面胶成功落入白色盒子中。", + "frame": 476, + "progress": 100, + "progress_explanation": "当前双面胶已经位于白色盒子中，因此进度提升为100%。", + "state_description": "当前爪夹张开，双面胶已经位于白色盒子中，因此已完成抓取双面胶放入白色盒子中的任务。", + "time": 15.876539997140346 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770772152443", + "name": "双面胶" + }, + { + "color": "#FF9800", + "id": "bbox_1770772152691", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770772153643", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770772153851", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-144130-put-white gloves-into-white box-mix2/annotations/chunk-000/observation.images.bird/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-144130-put-white gloves-into-white box-mix2/annotations/chunk-000/observation.images.bird/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..36dd1c76240ef0eb2f14b28d3b41a4d8427f5222 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260115-niumingliang/20260115-144130-put-white gloves-into-white box-mix2/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,548 @@ +{ + "task_description": "抓取白手套放入白色盒子中。\n准备开始移动：0%\n爪夹靠近白手套:20%\n爪夹抓取白手套:40%\n爪夹抓住白手套接近白色盒子:60%\n爪夹夹紧白手套位于白色盒子的上方:80%\n爪夹松开，白手套落入白色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.13733333333333325, + "id": "bbox_1770861333244_1770861564544_c4snl0kvq", + "width": 0.1630000000000001, + "x": 0.6263333129882812, + "y": 0.3364444376627605 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1770861333404_1770861594551_qcjcwdwcg", + "width": 0.193, + "x": 0.28633331298828124, + "y": 0.13022221883138022 + } + ], + "type": "bbox" + }, + "point_1770861334100": { + "instances": [ + { + "id": "point_1770861334100_1770861616524_4u5jxf4dv", + "x": 0.6033333129882813, + "y": 0.5582222188313802 + } + ], + "type": "point" + }, + "point_1770861334276": { + "instances": [ + { + "id": "point_1770861334276_1770861621805_vd6i0d5h5", + "x": 0.7123333129882813, + "y": 0.5635555521647135 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，到达白手套的正上方后下降，抓取白手套后垂直上升，向爪夹方向的左前方移动，直至白手套处于白色盒子的正上方。松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "", + "frame": 40, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触白手套。\n为完成抓取白手套放入白色盒子中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右前方移动，准备抓取白手套。", + "time": 1.3344898493138264 + }, + { + "action_description": "爪夹向爪夹方向的右下方移动，并调整爪夹角度，使其接近于垂直桌面。\n", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.13466666666666668, + "id": "bbox_1770861333244_1770861666460_maf38qtut", + "width": 0.16500000000000012, + "x": 0.6243333129882812, + "y": 0.3382222188313802 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1770861333404_1770861638364_ck7jgp1vq", + "width": 0.19299999999999992, + "x": 0.28533331298828124, + "y": 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"annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1770861333244_1770861857208_h3rap0nrx", + "width": 0.11199999999999992, + "x": 0.6253333129882813, + "y": 0.3324444376627604 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.2413333333333334, + "id": "bbox_1770861333404_1770861879552_vlgipvb50", + "width": 0.194, + "x": 0.28533331298828124, + "y": 0.13022221883138022 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续向下移动抓取白手套，垂直抬起爪夹，然后向爪夹方向的左前方移动，直至白手套处于白色盒子的正上方。松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并且已经移动到了白手套的上方，方便抓取。", + "frame": 318, + "progress": 20, + "progress_explanation": "当前爪夹已悬空于白手套的上方，已接近白手套，因此进度提升为20%。", + "state_description": "当前爪夹张开，与水平方向呈90度角，爪夹位于白手套的上方。\n为完成抓取白手套放入白色盒子中的任务应当：继续向下抓取白手套，然后向爪夹方向的左前方移动，直至白色盒子的正上方。", + "time": 10.6 + }, + { + "action_description": "爪夹向爪夹方向的下方移动并合拢爪夹抓取白手套。", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.1426666666666667, + "id": "bbox_1770861333244_1770861914709_tep3mb0tg", + "width": 0.08700000000000001, + "x": 0.6493333129882812, + "y": 0.31688888549804684 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.24133333333333337, + "id": "bbox_1770861333404_1770861899840_9kjvewpee", + "width": 0.19299999999999992, + "x": 0.28533331298828124, + "y": 0.12844443766276042 + } + ], + "type": "bbox" + } + }, + "correction_plan": "垂直抬起爪夹，然后向爪夹方向的左前方移动，直至白手套处于白色盒子的正上方。松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向的下方移动，并合拢爪夹成功抓取到白手套。", + "frame": 354, + "progress": 40, + "progress_explanation": "当前爪夹已悬空于白手套的上方，已接近白手套，因此进度提升为40%。", + "state_description": "当前爪夹合拢，与水平方向呈90度角，爪夹已经抓取到白手套。\n为完成抓取白手套放入白色盒子中的任务应当：垂直抬起爪夹，然后向爪夹方向的左前方移动，直至白手套处于白色盒子的正上方。", + "time": 11.795466 + }, + { + "action_description": "爪夹夹紧白手套向爪夹方向的右上方抬升。", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.15333333333333338, + "id": "bbox_1770861333244_1770861928173_ojd6351vi", + "width": 0.096, + "x": 0.6833333129882813, + "y": 0.2964444376627604 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.24133333333333334, + "id": "bbox_1770861333404_1770861942773_pcgqj928p", + "width": 0.194, + "x": 0.28533331298828124, + "y": 0.1288888854980469 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左前方移动，直至白色盒子的正上方。松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹夹紧白手套垂直抬升，方便爪夹向着白色盒子方向移动，方便将白手套放入白色盒子中。", + "frame": 384, + "progress": 45, + "progress_explanation": "当前爪夹已抓住白手套，白手套被抬升至空中，方便向白色盒子的方向靠近，因此进度提升为45%。", + "state_description": "当前爪夹合拢，白手套被抬升至空中。\n为完成抓取白手套放入白色盒子中的任务应当：爪夹继续保持合拢，向爪夹方向的左前方移动，直至白色盒子的正上方。", + "time": 12.809679036942693 + }, + { + "action_description": "爪夹继续夹紧白手套向上抬升并向爪夹方向的左前方略微移动。", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.18933333333333335, + "id": "bbox_1770861333244_1770861976569_drlf3n97f", + "width": 0.07999999999999999, + "x": 0.7043333129882813, + "y": 0.2568888854980469 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.24400000000000002, + "id": "bbox_1770861333404_1770861958309_pe6zfu5gc", + "width": 0.195, + "x": 0.28433331298828124, + "y": 0.12844443766276042 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹继续保持合拢，向爪夹方向的左前方移动，直至白色盒子的正上方。松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹向上抬升并向爪夹方向的左前方略微移动，白手套在水平方向上成功靠近白色盒子。", + "frame": 438, + "progress": 50, + "progress_explanation": "当前爪夹向着白色盒子的方向略微移动，使白手套在水平方向上略微靠近白色盒子，因此进度提升为50%。", + "state_description": "当前爪夹合拢，白手套被抬升至空中。白手套与白色盒子的水平距离略微缩短。\n为完成抓取白手套放入白色盒子中的任务应当：爪夹继续保持合拢，向爪夹方向的左前方移动，直至白色盒子的正上方。", + "time": 14.586620646221045 + }, + { + "action_description": "爪夹夹紧白手套向爪夹方向的左前方移动。", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.048000000000000015, + "id": 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+ "width": 0.03200000000000003, + "x": 0.42033331298828125, + "y": 0.08755555216471353 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.22933333333333336, + "id": "bbox_1770861333404_1770862012817_an0qxnnw4", + "width": 0.14999999999999997, + "x": 0.28533331298828124, + "y": 0.1404444376627604 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧白手套向爪夹方向的下方略微移动，松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左后方移动，并且正确下降到了白色盒子的正上方。", + "frame": 519, + "progress": 80, + "progress_explanation": "当前爪夹已抓住白手套，并移动到了白色盒子的正上方，因此进度提升为80%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住白手套处于白色盒子的正上方。\n为完成抓取白手套放入白色盒子中的任务应当：爪夹夹紧白手套向爪夹方向的下方略微移动，松开爪夹，白手套落入白色盒子中。", + "time": 17.298633 + }, + { + "action_description": "爪夹夹紧白手套向爪夹方向的左下方移动。", + "annotations": { + "bbox_1770861333244": { + "instances": [ + { + "height": 0.022666666666666686, + "id": "bbox_1770861333244_1770862107484_bhpvyzu8h", + "width": 0.01599999999999997, + "x": 0.3533333129882813, + "y": 0.16088888549804686 + } + ], + "type": "bbox" + }, + "bbox_1770861333404": { + "instances": [ + { + "height": 0.22800000000000006, + "id": "bbox_1770861333404_1770862091916_z5074zspb", + "width": 0.14200000000000004, + "x": 0.28533331298828124, + "y": 0.14177777099609373 + } + ], + "type": "bbox" + } + }, + "correction_plan": "松开爪夹，白手套落入白色盒子中。", + "error_success_analysis": "爪夹保持合拢，向爪夹方向的左下方移动，并且正确下降到了白色盒子的正上方。", + "frame": 537, + "progress": 90, + "progress_explanation": "当前白手套移动到了白色盒子的正上方，因此进度提升为90%。", + "state_description": "当前爪夹合拢，垂直于桌面，抓住白手套处于白色盒子的正上方。\n为完成抓取白手套放入白色盒子中的任务应当：松开爪夹，白手套落入白色盒子中。", + "time": 17.905005579210734 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "白手套位于白色盒子中，已完成抓取白手套放入白色盒子中的任务。", + "error_success_analysis": "爪夹张开，白手套成功落入白色盒子中。", + "frame": 589, + "progress": 100, + "progress_explanation": "当前白手套已经位于白色盒子中，因此进度提升为100%。", + "state_description": "当前爪夹张开，白手套已经位于白色盒子中，因此已完成抓取白手套放入白色盒子中的任务。", + "time": 19.61772038333445 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770861333244", + "name": "白手套" + }, + { + "color": "#FF9800", + "id": "bbox_1770861333404", + "name": "白色盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770861334100", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770861334276", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-141615-put-the-mud-triangle-on-the-tripod-mix/annotations/chunk-000/observation.images.right/episode_000010.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-141615-put-the-mud-triangle-on-the-tripod-mix/annotations/chunk-000/observation.images.right/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..c26d28432d9f49934edfb9c306df537d5669d929 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-141615-put-the-mud-triangle-on-the-tripod-mix/annotations/chunk-000/observation.images.right/episode_000010.json @@ -0,0 +1,528 @@ +{ + "task_description": "抓取泥三角放在三脚架上。\n准备开始移动：0%\n爪夹靠近泥三角:20%\n爪夹抓取泥三角:40%\n爪夹抓住泥三角接近三脚架:60%\n爪夹夹紧泥三角位于三脚架的上方:80%\n爪夹松开，泥三角落入三脚架上:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", + "annotations": { + "bbox_1770864247318": { + "instances": [ + { + "height": 0.07599999999999998, + "id": "bbox_1770864247318_1770864545222_apws9whc8", + "width": 0.10700000000000003, + "x": 0.31633331298828127, + "y": 0.32044443766276043 + } + ], + "type": "bbox" + }, + "bbox_1770864247534": { + "instances": [ + { + "height": 0.27733333333333327, + "id": "bbox_1770864247534_1770864550966_u7ob8t9ni", + "width": 0.14400000000000004, + "x": 0.5893333129882812, + "y": 0.27288888549804685 + } + ], + "type": "bbox" + }, + "point_1770864248261": { 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-160818-put-the-triangular-beaker-in-the-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-160818-put-the-triangular-beaker-in-the-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..9110d50bb42e23ba97d2a17a0037c3c0a5d33ff0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-160818-put-the-triangular-beaker-in-the-white-box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,550 @@ +{ + "task_description": "抓取三角烧杯放入白色盒子中。\n准备开始移动：0%\n爪夹靠近三角烧杯:20%\n爪夹抓取三角烧杯:40%\n爪夹抓住三角烧杯接近白色盒子:60%\n爪夹夹紧三角烧杯位于白色盒子的上方:80%\n爪夹松开，三角烧杯落入白色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "bbox_1770868353535": { + "instances": [ + { + "height": 0.07866666666666665, + "id": "bbox_1770868353535_1770868570783_h56icxk5o", + "width": 0.08100000000000014, + "x": 0.739375, + "y": 0.49253125000000003 + } + ], + "type": "bbox" + }, + "bbox_1770868353799": { + "instances": [ + { + "height": 0.2373333333333333, + "id": "bbox_1770868353799_1770868587783_ssdywofoe", + "width": 0.179, + "x": 0.301375, + "y": 0.1631979166666667 + } + ], + "type": "bbox" + }, + "point_1770868354527": { + "instances": [ + { + "id": "point_1770868354527_1770868599319_tcmvldgho", + "x": 0.5653750000000001, + "y": 0.57253125 + } + ], + "type": "point" + }, + "point_1770868354735": { + "instances": [ + { + "id": "point_1770868354735_1770868608911_hk8xumyhj", + "x": 0.667375, + "y": 0.5671979166666666 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，到达三角烧杯的正上方后下降，抓取三角烧杯后垂直上升，向爪夹方向的左前方移动，直至三角烧杯处于白色盒子的正上方。松开爪夹，三角烧杯落入白色盒子中。", + "error_success_analysis": "", + "frame": 12, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动，没有接触三角烧杯。\n为完成抓取三角烧杯放入白色盒子中的任务应当：调整爪夹角度，使其垂直于桌面。然后向爪夹方向的右下方移动，准备抓取三角烧杯。", + "time": 0.3885180506443299 + }, + { + "action_description": "爪夹向爪夹方向的左下方移动。调整爪夹角度，使其接近于垂直桌面。", + "annotations": { + "bbox_1770868353535": { + "instances": [ + { + "height": 0.08000000000000002, + "id": "bbox_1770868353535_1770868656615_jvjutpvlq", + "width": 0.08099999999999996, + "x": 0.738375, + "y": 0.4921979166666666 + } + ], + "type": "bbox" + }, + "bbox_1770868353799": { + "instances": [ + { + "height": 0.23733333333333334, + "id": "bbox_1770868353799_1770868634583_tomg8tl3a", + "width": 0.177, + "x": 0.303375, + "y": 0.16286458333333334 + } + ], + "type": "bbox" + }, + "point_1770868354527": { + "instances": [ + { + "id": 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"爪夹向上抬升并向爪夹方向的右后方移动。", + "annotations": { + "bbox_1770868353535": { + "instances": [ + { + "height": 0.08000000000000007, + "id": "bbox_1770868353535_1770868744744_kbyblpq29", + "width": 0.07399999999999993, + "x": 0.746375, + "y": 0.4921979166666667 + } + ], + "type": "bbox" + }, + "bbox_1770868353799": { + "instances": [ + { + "height": 0.23866666666666667, + "id": "bbox_1770868353799_1770868758664_080577quy", + "width": 0.17800000000000002, + "x": 0.30237499999999995, + "y": 0.16419791666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "继续调整爪夹角度，使其垂直于桌面。然后向爪夹方向的左下方移动，到达三角烧杯的正上方后下降，抓取三角烧杯后垂直上升，向爪夹方向的左前方移动，直至三角烧杯处于白色盒子的正上方。松开爪夹，三角烧杯落入白色盒子中。", + "error_success_analysis": "爪夹抬升向爪夹方向的右后方移动，水平方向上成功接近三角烧杯，并使爪夹角度向垂直于桌面调整，方便抓取。", + "frame": 174, + "progress": 10, + "progress_explanation": "当前爪夹在水平方向上更加接近三角烧杯并调整爪夹角度方便抓取，因此进度提升为10%。", + "state_description": "当前爪夹张开，与三角烧杯的水平距离缩短。\n为完成抓取三角烧杯放入白色盒子中的任务应当：继续调整爪夹方向直到垂直于桌面，向爪夹方向的右后方移动直至三角烧杯的正上方。", + "time": 5.795246128779838 + }, + { + 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"爪夹张开并向爪夹方向的右前方移动到三角烧杯的上方。", + "annotations": { + "bbox_1770868353535": { + "instances": [ + { + "height": 0.053333333333333205, + "id": "bbox_1770868353535_1770868805511_b6g37kpsu", + "width": 0.03600000000000003, + "x": 0.7503749999999999, + "y": 0.5188645833333334 + } + ], + "type": "bbox" + }, + "bbox_1770868353799": { + "instances": [ + { + "height": 0.23733333333333334, + "id": "bbox_1770868353799_1770876800091_5qevenic9", + "width": 0.17800000000000002, + "x": 0.301375, + "y": 0.16286458333333334 + } + ], + "type": "bbox" + }, + "point_1770868354527": { + "instances": [ + { + "id": "point_1770868354527_1770868818593_18dn62xja", + "x": 0.780375, + "y": 0.47219791666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "调整爪夹角度，使其与桌面垂直，爪夹向爪夹方向的左下方移动，到达三角烧杯的正上方后下降，抓取三角烧杯后垂直上升，向爪夹方向的左前方移动，直至三角烧杯处于白色盒子的正上方。松开爪夹，三角烧杯落入白色盒子中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，并且已经移动到了三角烧杯的两侧，方便抓取。", + "frame": 259, + "progress": 20, + "progress_explanation": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-171430-put-the-pestle-in-the-mortar-mix/annotations/chunk-000/observation.images.front/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-171430-put-the-pestle-in-the-mortar-mix/annotations/chunk-000/observation.images.front/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..89edf447b672cce9dba3681170ddf722c051f60d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-171430-put-the-pestle-in-the-mortar-mix/annotations/chunk-000/observation.images.front/episode_000006.json @@ -0,0 +1,938 @@ +{ + "task_description": "抓取杵放入研钵中。\n准备开始移动：0%\n爪夹靠近杵:20%\n爪夹抓取杵:40%\n爪夹抓住杵接近研钵:60%\n爪夹夹紧杵位于研钵的上方:80%\n爪夹松开，杵落入研钵中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。", 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0000000000000000000000000000000000000000..7abdf878aaf9f7d3dc9ed4d0b88598db13d1dc8c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0121/20260120-yuanshuaijun/20260120-175747-put-the-measuring-cup-in-the-white-box-mix1/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,1010 @@ +{ + "task_description": "把量杯放在白色盒子里\n准备开始移动：0%\n爪夹靠近量杯:20%\n爪夹抓取量杯:40%\n爪夹抓住量杯接近白色盒子:60%\n爪夹夹紧量杯于白色盒子的上方:80%\n爪夹松开，量杯落入白色盒子中:100%", + "progress_points": [ + { + "action_description": "爪夹保持打开状态，准备移动。\t", + "annotations": { + "bbox_1770886183585": { + "instances": [ + { + "height": 0.18666665147569564, + "id": "bbox_1770886183585_1770886696294_s9ew2lkz6", + "width": 0.10499999359130893, + "x": 0.36911106145562367, + "y": 0.5153147672269883 + } + ], + "type": "bbox" + }, + "bbox_1770886183776": { + "instances": [ + { + "height": 0.16933331955295253, + "id": "bbox_1770886183776_1770886721093_d281xmbte", + "width": 0.14199999133300828, + "x": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-guoyijia/20260121-095345-put-plug-wooden-box-mix/annotations/chunk-000/observation.images.right/episode_000005.json @@ -0,0 +1,688 @@ +{ + "task_description": "把插头放进木箱里：\n准备移动：0%\n靠近插头：20%\n抓取插头：40%\n爪夹抓取插头移动至木盒正上方：60%\n爪夹抓取插头下降至木盒中：80%\n松开爪夹使插头落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹右下方移动靠近插头，爪夹合拢抓取插头，爪夹抓取插头竖直上升，爪夹抓取插头向爪夹方向右边移动至木盒正上方，爪夹抓取插头下降至木盒中，松开爪夹使插头落入木盒。", + "error_success_analysis": "", + "frame": 10, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把插头放进木箱里的任务应当：爪夹向爪夹右下方移动靠近插头。", + "time": 0.3454443076337797, + "annotations": { + "point_1770693715544": { + "type": "point", + "instances": [ + { + "id": "point_1770693715544_1770694143056_yfjj74clh", + "x": 0.3091110651177328, + "y": 0.4633147714587588 + } + ] + }, + "point_1770693715677": { + "type": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-guoyijia/20260121-150640-put-flashlight-wooden-box-mix2/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..0a689a137c7271fbab99cbf7e664b6670545c566 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-guoyijia/20260121-150640-put-flashlight-wooden-box-mix2/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,1108 @@ +{ + "task_description": "把电筒放进木盒里：\n准备移动：0%\n靠近电筒：20%\n抓取电筒：40%\n爪夹抓取电筒移动接近木盒：60%\n爪夹抓取电筒下降至木盒中：80%\n松开爪夹使电筒落入木盒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向左前方移动至电筒正上方，爪夹垂直下降靠近电筒，爪夹合拢抓取电筒，爪夹抓取电筒竖直上升，爪夹抓取电筒向爪夹方向右边移动接近木盒，爪夹抓取电筒向爪夹方向右边移动至木盒正上方，爪夹抓取电筒下降至木盒中，松开爪夹使电筒落入木盒。", + "error_success_analysis": "", + "frame": 22, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%。", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把电筒放进木盒里的任务应当：爪夹向爪夹方向前方移动。", + "time": 0.7430081378838208, + "annotations": { + "point_1770777006809": { + "type": "point", + "instances": [ + { + "id": "point_1770777006809_1770777865093_4yhxapmf1", + "x": 0.668111043206113, + "y": 0.28464811933202155 + } + ] + }, + "point_1770777006931": { + "type": "point", + "instances": [ + { + "id": "point_1770777006931_1770777867209_l32czaqh3", + "x": 0.727111039605039, + "y": 0.22731479066448645 + } + ] + }, + "bbox_1770777005927": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770777005927_1770777874775_1ocryxoqn", + "x": 0.24211106920708803, + "y": 0.3219814496271607, + "width": 0.16199999011230526, + "height": 0.0586666618923615 + } + ] + }, + "bbox_1770777006045": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770777006045_1770777888970_iawpyuge3", + "x": 0.7001110412529881, + "y": 0.23531479001344482, + "width": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-135536-put-brush-yellow and black box-mix/annotations/chunk-000/observation.images.right/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-135536-put-brush-yellow and black box-mix/annotations/chunk-000/observation.images.right/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..9e0638c3985182a865a60d2e3a546696e2101286 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-135536-put-brush-yellow and black box-mix/annotations/chunk-000/observation.images.right/episode_000003.json @@ -0,0 +1,696 @@ +{ + "task_description": "把刷子放进盒子里：\n准备移动：0%\n靠近刷子：20%\n抓取刷子：40%\n爪夹抓取刷子移动接近盒子：60%\n爪夹抓取刷子下降至盒子中：80%\n松开爪夹使刷子落入盒子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，爪夹准备移动。", + "correction_plan": "爪夹向爪夹方向前方移动，爪夹向爪夹方向右前方移动至刷子正上方，爪夹垂直下降靠近刷子，爪夹抓取刷子，爪夹抓取刷子竖直上升，爪夹抓取刷子向爪夹方向左边移动接近盒子，爪夹抓取刷子向爪夹方向左边移动至盒子正上方，爪夹抓取刷子下降至盒子中，松开爪夹使刷子落入盒子。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "爪夹张开，爪夹准备移动。因此当前进度为0%", + "state_description": "当前爪夹张开，此时爪夹静止不动，为完成把刷子放进盒子里的任务应当：爪夹向爪夹方向前方移动。", + "time": 0.855192034394378, + "annotations": { + "bbox_1770794927130": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770794927130_1770795470278_adx2oduur", + "x": 0.7491110382622657, + "y": 0.3646481128216054, + "width": 0.18999998840332094, + "height": 0.1533333208550357 + } + ] + }, + "point_1770794928026": { + "type": "point", + "instances": [ + { + "id": "point_1770794928026_1770795478154_sg2gw0q90", + "x": 0.3891110602349206, + "y": 0.32864811575129266 + } + ] + }, + "point_1770794928154": { + "type": "point", + "instances": [ + { + "id": "point_1770794928154_1770795480148_i54mwczhj", + "x": 0.4931110538872647, + "y": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-150001-put-power strip-yellow and black box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-150001-put-power strip-yellow and black box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..36c360783b9ab72e7e4b443c46d1a56a522380d0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260121-lilingchu/20260121-150001-put-power strip-yellow and black box-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,838 @@ +{ + "task_description": "将插座放入盒子中：\n准备移动：0%\n靠近插座：20%\n抓取插座：40%\n爪夹抓取插座移动接近盒子：60%\n爪夹抓取插座下降靠近盒子：80%\n松开爪夹使插座落入盒子：100%", + "progress_points": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260123-yuanshuaijun/20260123-150612-put-the-clay-triangle-on-the-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260123-yuanshuaijun/20260123-150612-put-the-clay-triangle-on-the-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..a4cb8446ec9d1ee82bfaaa2a442e3fed65dea00e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-critic/20260123-yuanshuaijun/20260123-150612-put-the-clay-triangle-on-the-plate-mix/annotations/chunk-000/observation.images.bird/episode_000008.json @@ -0,0 +1,588 @@ +{ + "task_description": "将泥三角放在盘子上;\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近泥三角：20%\n爪夹抓取泥三角：40%\n爪夹抓住泥三角并接近盘子：60%\n爪夹将泥三角移动至盘子上方：80%\n爪夹松开，使泥三角落在盘子上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的左前方移动并调整爪夹角度，到达泥三角的正上方后下降，合拢爪夹抓取泥三角后竖直上升，向爪夹方向的右前方移动，直至泥三角处于盘子上方，张开爪夹，使泥三角落在盘子上。", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前爪夹打开，没有移动。\n为完成将泥三角放在盘子上的任务:向爪夹方向的左前方移动并调整爪夹角度，到达泥三角的正上方后下降。", + "time": 0.7812821868785623, + "annotations": { + "bbox_1770692425741": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770692425741_1770692453093_hq4tyjbtb", + "x": 0.4416665990193726, + "y": 0.47390736092876296, + "width": 0.08699999468994166, + "height": 0.13066665603298694 + } + ] + }, + "bbox_1770692425853": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770692425853_1770692458069_ngzjns5ag", + "x": 0.6216665880330452, + "y": 0.08324072605462841, + "width": 0.19499998809814523, + "height": 0.2519999794921892 + } + ] + }, + "point_1770692426477": { + "type": "point", + "instances": [ + { 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260121-experiment-songjiaqi/20260121-135305-put-glass rod-glass beaker with purple solution-mix/annotations/chunk-000/observation.images.wrist/episode_000045.json new file mode 100644 index 0000000000000000000000000000000000000000..4590f0b1310cfebdf80ed5082e0489e2ea08f82f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260121-experiment-songjiaqi/20260121-135305-put-glass rod-glass beaker with purple solution-mix/annotations/chunk-000/observation.images.wrist/episode_000045.json @@ -0,0 +1,835 @@ +{ + "task_description": "取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回大玻璃烧杯中。\n爪夹并未移动：0%\n爪夹开始移动；5%\n爪夹靠近玻璃棒；15%\n爪夹抓取玻璃棒：30%\n爪夹将玻璃棒移动至装有紫色溶液的玻璃烧杯上方：50%\n爪夹将玻璃棒移动至装有紫色溶液的玻璃烧杯中；55%\n爪夹抓住玻璃棒开始搅拌紫色溶液；60%\n爪夹抓住玻璃棒并离开装有紫色溶液的玻璃烧杯；80%\n爪夹抓住玻璃棒并开始接近大玻璃烧杯；85%\n爪夹抓住玻璃棒并移动至大玻璃烧杯上方；90%\n爪夹松开，使玻璃棒落入大玻璃烧杯中：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右方移动并调整爪夹角度，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前爪夹打开，没有移动。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:向爪夹方向的右方移动并调整爪夹角度，到达玻璃棒的正上方后下降。", + "time": 1.786207105083341, + "annotations": { + "bbox_1770705959507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959507_1770705999657_6oe3bdjiy", + "x": 0.44466659883626714, + "y": 0.48442588424268523, + "width": 0.03499999786376966, + "height": 0.07866666026475748 + } + ] + }, + "bbox_1770705970924": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705970924_1770706004937_vpsbxajyu", + "x": 0.5926665898030645, + "y": 0.4959814354670056, + "width": 0.08499999481201206, + "height": 0.13866665538194536 + } + ] + }, + "point_1770705960412": { + "type": "point", + "instances": [ + { + "id": "point_1770705960412_1770706009725_ylurqxip6", + "x": 0.35166660451253634, + "y": 0.3973147768298521 + } + ] + }, + "bbox_1770705959381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959381_1770706280535_ubkh8euy2", + "x": 0.6136665885213264, + "y": 0.5373147654366239, + "width": 0.03799999768066416, + "height": 0.07733332703993116 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的上方抬起爪夹并调整爪夹角度。", + "correction_plan": "向爪夹方向的右方移动并调整爪夹角度，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起爪。", + "frame": 76, + "progress": 5, + "progress_explanation": "爪夹向爪夹方向的上方抬起爪，爪夹已开始移动。因此进度提升至5%", + "state_description": "当前爪夹打开，位于桌面上方。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:向爪夹方向的右方移动并调整爪夹角度，到达玻璃棒的正上方后下降。", + "time": 2.516928700341375, + "annotations": { + "bbox_1770705959507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959507_1770706022191_40t2hkgkg", + "x": 0.44266659895833743, + "y": 0.4879814361180472, + "width": 0.036999997741699354, + "height": 0.08266665993923669 + } + ] + }, + "bbox_1770705970924": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705970924_1770706026027_m8ypwt9x8", + "x": 0.5926665898030645, + "y": 0.4959814354670056, + "width": 0.08199999499511748, + "height": 0.13866665538194536 + } + ] + }, + "bbox_1770705959381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959381_1770706285242_fw20f5cj0", + "x": 0.6136665885213264, + "y": 0.5413147651111031, + "width": 0.04099999749755874, + "height": 0.07733332703993104 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "继续向爪夹方向的右方移动，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功略微拉近与玻璃棒的水平距离。", + "frame": 94, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的右前方移动，与玻璃棒的水平距离略微拉近。因此进度提升至10%", + "state_description": "当前爪夹打开，与玻璃棒的水平距离略微拉近。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:继续向爪夹方向的右方移动，到达玻璃棒的正上方后下降。", + "time": 3.125863363056404, + "annotations": { + "bbox_1770705970924": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705970924_1770706036379_ox75q76sx", + "x": 0.5926665898030645, + "y": 0.4959814354670056, + "width": 0.08299999493408236, + "height": 0.1359999889322926 + } + ] + }, + "bbox_1770705959381": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959381_1770706290577_vsdujnxk9", + "x": 0.6126665885823614, + "y": 0.5413147651111031, + "width": 0.04199999743652363, + "height": 0.07999999348958392 + } + ] + } + } + }, + { + "action_description": "爪夹继续向爪夹方向的右前方移动并下降。", + "correction_plan": "向爪夹方向的前方移动，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "error_success_analysis": "爪夹继续向爪夹方向的右前方移动并下降，成功拉近与玻璃棒的垂直距离。", + "frame": 120, + "progress": 15, + "progress_explanation": "爪夹继续向爪夹方向的右前方移动并下降，与玻璃棒的垂直距离拉近。因此进度提升至15%", + "state_description": "当前爪夹打开，与玻璃棒的垂直距离拉近。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:向爪夹方向的前方移动，合拢爪夹抓取玻璃棒后竖直上升。", + "time": 4.0088186239931956 + }, + { + "action_description": "爪夹合拢并向爪夹方向的右前方移动并下降。", + "correction_plan": "张开并抬起爪夹，向爪夹方向的左前方移动，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "error_success_analysis": "爪夹未移动至玻璃棒两侧就合拢，导致爪夹合拢未能抓取到玻璃棒。", + "frame": 146, + "progress": 10, + "progress_explanation": "爪夹合拢未抓取到玻璃棒。因此进度下降至10%", + "state_description": "当前爪夹合拢，未抓取到玻璃棒。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:张开并抬起爪夹，向爪夹方向的左前方移动，到达玻璃棒的正上方后下降。", + "time": 4.861327151794235 + }, + { + "time": 5.995266, + "frame": 180, + "progress": 5, + "action_description": "爪夹向爪夹方向的右前方移动。", + "state_description": "当前爪夹合拢，与玻璃棒的水平距离略微拉远。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:张开并抬起爪夹，向爪夹方向的左前方移动，到达玻璃棒的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的右前方移动，与玻璃棒的水平距离略微拉远。因此进度下降至5%", + "error_success_analysis": "爪夹向爪夹方向的右前方移动，略微拉远与玻璃棒的水平距离。", + "correction_plan": "张开并抬起爪夹，向爪夹方向的左前方移动，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。" + }, + { + "time": 7.206133, + "frame": 216, + "progress": 10, + "action_description": "爪夹向爪夹方向的左后方移动并张开。", + "state_description": "当前爪夹张开，与玻璃棒的水平距离略微拉近。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:向爪夹方向的左前方移动，到达玻璃棒的正上方后下降。", + "progress_explanation": "爪夹向爪夹方向的左后方移动并张开，与玻璃棒的水平距离略微拉近。因此进度提升至10%", + "error_success_analysis": "爪夹成功张开并略微拉近与玻璃棒的水平距离。", + "correction_plan": "向爪夹方向的左前方移动，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。" + }, + { + "time": 8.948599, + "frame": 268, + "progress": 15, + "action_description": "爪夹向爪夹方向的上方抬起并向爪夹方向的左前方移动。", + "state_description": "当前爪夹张开，与玻璃棒的水平距离进一步拉近。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:下降并合拢爪夹，抓取玻璃棒后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "爪夹向爪夹方向的左前方移动，与玻璃棒的水平距离进一步拉近。因此进度提升至15%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与玻璃棒的水平距离。", + "correction_plan": "下降并合拢爪夹，抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。" + }, + { + "time": 9.923199, + "frame": 298, + "progress": 20, + "action_description": "爪夹向爪夹方向的前方略微移动并下降。", + "state_description": "当前爪夹张开，与玻璃棒的垂直距离拉近。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:合拢爪夹，抓取玻璃棒后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "爪夹向爪夹方向的下方移动，与玻璃棒的垂直距离拉近。因此进度提升至20%", + "error_success_analysis": "爪夹向爪夹方向的下方移动，拉近与玻璃棒的垂直距离。", + "correction_plan": "合拢爪夹，抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。" + }, + { + "time": 10.986399, + "frame": 330, + "progress": 30, + "action_description": "爪夹合拢，抓取玻璃棒。", + "state_description": "当前爪夹合拢，抓住玻璃棒。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:抓取玻璃棒后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "当前爪夹已抓取到玻璃棒。因此进度提升至30%", + "error_success_analysis": "爪夹成功抓取到玻璃棒。", + "correction_plan": "抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。" + }, + { + "time": 11.931466, + "frame": 358, + "progress": 35, + "action_description": "爪夹向爪夹方向的上方抬起。", + "state_description": "当前爪夹合拢，抓住玻璃棒位于桌面上方。\n为完成取出玻璃棒，在装有紫色溶液的玻璃烧杯中搅拌，随后放回烧杯中的任务:向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方。", + "progress_explanation": "爪夹向爪夹方向的上方抬起，抬起玻璃棒。因此进度提升至35%", + "error_success_analysis": 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"爪夹向爪夹方向的左前方移动，与装有紫色溶液的玻璃烧杯的水平距离拉近。因此进度提升至40%", + "error_success_analysis": "爪夹向爪夹方向的左前方移动，成功拉近与装有紫色溶液的玻璃烧杯的水平距离。", + "correction_plan": "继续向爪夹方向的左前方移动，直至玻璃棒处于装有紫色溶液的玻璃烧杯上方，下降爪夹，使玻璃棒落入装有紫色溶液的玻璃烧杯中，开始搅拌，搅拌结束后向爪夹方向的上方抬起爪夹，随后向爪夹方向的右后方移动，直至玻璃棒处于大玻璃烧杯上方，张开爪夹，使玻璃棒落入大玻璃烧杯中。", + "annotations": { + "bbox_1770705970924": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705970924_1770706071333_q47hl5udm", + "x": 0.5816665904744512, + "y": 0.48531476966839443, + "width": 0.08199999499511748, + "height": 0.13333332248263982 + } + ] + }, + "bbox_1770705959507": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770705959507_1770706080727_peddus6nd", + "x": 0.44266659895833743, + "y": 0.4879814361180472, + "width": 0.03999999755859394, + "height": 0.07599999381510472 + } + ] + } + } + }, + { + "time": 13.851133, + "frame": 416, + "progress": 50, + "action_description": "爪夹继续向爪夹方向的左前方移动。", + "state_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260122-experiment-songjiaqi/20260122-093754-put-red-solution from the solution bottle-glass test tube-mix/annotations/chunk-000/observation.images.head/episode_000014.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260122-experiment-songjiaqi/20260122-093754-put-red-solution from the solution bottle-glass test tube-mix/annotations/chunk-000/observation.images.head/episode_000014.json new file mode 100644 index 0000000000000000000000000000000000000000..fcd57cab01a6476369ae331dfe1c9d623f0f5499 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260122-experiment-songjiaqi/20260122-093754-put-red-solution from the solution bottle-glass test tube-mix/annotations/chunk-000/observation.images.head/episode_000014.json @@ -0,0 +1,791 @@ +{ + "task_description": "将红色溶液滴入玻璃试管中，随后将滴管放回溶液瓶；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近装有红色溶液的滴管；20%\n爪夹抓取装有红色溶液的滴管：40%\n爪夹抓住装有红色溶液的滴管并接近玻璃试管：50%\n爪夹将滴管移动至玻璃试管上方：60%\n爪夹合拢，使红色溶液滴入玻璃试管中：70%\n爪夹抓住装有红色溶液的滴管并接近装有红色溶液的瓶子；80%\n爪夹将滴管移动至装有红色溶液的溶液瓶上方；90%\n爪夹张开，使滴管落入装有红色溶液的溶液瓶；100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的右前方移动，直至滴管处于玻璃试管上方，合拢爪夹，使红色溶液滴入玻璃试管中，随后向爪夹方向的左后方移动并下降，移动至装有红色溶液的溶液瓶上方，张开爪夹，使滴管落入装有红色溶液的溶液瓶。", + "error_success_analysis": "", + "frame": 43, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成将红色溶液滴入玻璃试管中，随后将滴管放回溶液瓶的任务:向爪夹方向的右前方移动并调整爪夹角度，到达滴管的正上方后下降。", + "time": 1.4325304440016633, + "annotations": { + "bbox_1770784711623": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711623_1770784742429_q14989x7o", + "x": 0.46466659761556406, + "y": 0.5254629190704005, + "width": 0.019999998779297014, + "height": 0.13066665603298694 + } + ] + }, + "bbox_1770784711761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711761_1770784746411_xrykvokcz", + "x": 0.4546665982259156, + "y": 0.15079628289418273, + "width": 0.06299999615478544, + "height": 0.08799999283854225 + } + ] + }, + "bbox_1770784711871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711871_1770784750505_mm0qlhnym", + "x": 0.4536665982869508, + "y": 0.5894629138620676, + "width": 0.04499999725341812, + "height": 0.09199999251302143 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的前方移动并上升，同时调整爪夹角度。", + "correction_plan": "向爪夹方向的右前方移动，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的右前方移动，直至滴管处于玻璃试管上方，合拢爪夹，使红色溶液滴入玻璃试管中，随后向爪夹方向的左后方移动并下降，移动至装有红色溶液的溶液瓶上方，张开爪夹，使滴管落入装有红色溶液的溶液瓶。", + "error_success_analysis": "爪夹成功向爪夹方向的前方移动并上升。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的前方移动并上升，爪夹已开始移动。因此进度提升至10%", + "state_description": "当前爪夹打开，与滴管的水平距离略微拉近。\n为完成将红色溶液滴入玻璃试管中，随后将滴管放回溶液瓶的任务:向爪夹方向的右前方移动，到达滴管的正上方后下降。", + "time": 2.1062073675913786, + "annotations": { + "bbox_1770784711623": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711623_1770784758815_qcn6upu7n", + "x": 0.46366659767659923, + "y": 0.5254629190704005, + "width": 0.020999998718261813, + "height": 0.13733332215711894 + } + ] + }, + "bbox_1770784711761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711761_1770784762293_7ni24wzyf", + "x": 0.4576665980428102, + "y": 0.1547962825686619, + "width": 0.05899999639892597, + "height": 0.08666665961371586 + } + ] + }, + "bbox_1770784711871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711871_1770784772387_hjb2edioy", + "x": 0.4526665983479859, + "y": 0.5921295803117204, + "width": 0.04599999719238301, + "height": 0.08799999283854222 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹方向的右前方移动并下降。", + "correction_plan": "向爪夹方向的右前方移动，到达滴管的正上方后下降，半合拢爪夹抓取滴管后竖直上升，向爪夹方向的右前方移动，直至滴管处于玻璃试管上方，合拢爪夹，使红色溶液滴入玻璃试管中，随后向爪夹方向的左后方移动并下降，移动至装有红色溶液的溶液瓶上方，张开爪夹，使滴管落入装有红色溶液的溶液瓶。", + "error_success_analysis": "爪夹向爪夹方向的右前方移动并下降，成功拉近与滴管的水平距离。", + "frame": 76, + "progress": 15, + "progress_explanation": "爪夹向爪夹方向的右前方移动并下降，与滴管的水平距离再次拉近。因此进度提升至15%", + "state_description": "当前爪夹打开，与滴管的水平距离再次拉近。\n为完成将红色溶液滴入玻璃试管中，随后将滴管放回溶液瓶的任务:继续向爪夹方向的右前方移动，到达滴管的正上方后下降。", + "time": 2.546266, + "annotations": { + "bbox_1770784711623": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711623_1770784780567_j7e36apjx", + "x": 0.46366659767659923, + "y": 0.5254629190704005, + "width": 0.01899999884033212, + "height": 0.13733332215711894 + } + ] + }, + "bbox_1770784711761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711761_1770784784388_atcr2urcd", + "x": 0.4546665982259156, + "y": 0.1587962822431411, + "width": 0.057999996459961164, + "height": 0.07999999348958386 + } + ] + }, + "bbox_1770784711871": { + "type": "bbox", + 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"progress": 15, + "progress_explanation": "爪夹合拢未抓取到滴管。因此进度下降至15%", + "state_description": "当前爪夹合拢，未抓取到滴管。\n为完成将红色溶液滴入玻璃试管中，随后将滴管放回溶液瓶的任务:张开爪夹，向爪夹方向的右前方移动并抬起。", + "time": 5.791066, + "annotations": { + "bbox_1770784711871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711871_1770784829241_9gkurhouj", + "x": 0.4556665981648805, + "y": 0.5881295806372412, + "width": 0.04299999737548843, + "height": 0.0906666592881951 + } + ] + }, + "bbox_1770784711623": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711623_1770784832525_yvbsmhe0k", + "x": 0.46466659761556406, + "y": 0.5267962522952269, + "width": 0.019999998779297014, + "height": 0.1413333218315982 + } + ] + }, + "bbox_1770784711761": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784711761_1770784835978_eggy32f4i", + "x": 0.4546665982259156, + "y": 0.1494629496693563, + "width": 0.05899999639892606, + "height": 0.08933332606336866 + } + ] + } + } + }, + { + "action_description": "爪夹张开。", + 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/dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0123-policy/20260122-experiment-songjiaqi/20260122-154010-put-cap-alcohol lamp-mix1/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,406 @@ +{ + "task_description": "将灯帽放在酒精灯上；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近灯帽；20%\n爪夹抓取灯帽：40%\n爪夹抓住灯帽并开始接近酒精灯：60%\n爪夹将灯帽移动至酒精灯上方：80%\n爪夹松开，使灯帽放在酒精灯上：100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右后方移动并调整爪夹角度，到达灯帽的正上方后下降，合拢爪夹抓取灯帽后竖直上升，向爪夹方向的左前方移动，直至灯帽处于酒精灯上方，张开爪夹，使灯帽落到酒精灯上。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前爪夹打开，没有移动。\n为完成将灯帽放在酒精灯上的任务:向爪夹方向的右后方移动并调整爪夹角度，到达灯帽的正上方后下降。", + "time": 1.3649590249344956, + "annotations": { + "bbox_1770784562364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562364_1770784598247_49n0x9lsd", + "x": 0.6836665842488656, + "y": 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+ "bbox_1770784562364": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562364_1770784613327_rw7m2elhw", + "x": 0.6886665839436898, + "y": 0.6832406772265074, + "width": 0.029999998168945476, + "height": 0.0413333299696184 + } + ] + }, + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562489_1770784617779_bvvbs7waw", + "x": 0.6206665880940803, + "y": 0.427240698059839, + "width": 0.0749999954223635, + "height": 0.10399999153645906 + } + ] + } + } + }, + { + "time": 2.719766, + "frame": 82, + "progress": 20, + "action_description": "爪夹向爪夹方向的右后方移动并下降。", + "state_description": "当前爪夹打开，位于灯帽上方。\n为完成将灯帽放在酒精灯上的任务:下降并合拢爪夹，抓取灯帽后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "爪夹向爪夹方向的右后方移动并下降，移动至灯帽上方。因此进度提升至20%", + "error_success_analysis": "爪夹成功向爪夹方向的右后方移动至灯帽上方。", + "correction_plan": "下降并合拢爪夹，抓取灯帽后竖直上升，向爪夹方向的左前方移动，直至灯帽处于酒精灯上方，张开爪夹，使灯帽落到酒精灯上。", + "annotations": { + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": 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"state_description": "当前爪夹合拢，抓住灯帽。\n为完成将灯帽放在酒精灯上的任务:抓取灯帽后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "当前爪夹已抓取到灯帽。因此进度提升至40%", + "error_success_analysis": "爪夹成功抓取到灯帽。", + "correction_plan": "抓取灯帽后竖直上升，向爪夹方向的左前方移动，直至灯帽处于酒精灯上方，张开爪夹，使灯帽落到酒精灯上。", + "annotations": { + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562489_1770784644723_w2vykqx6z", + "x": 0.608666588826502, + "y": 0.42190736516053345, + "width": 0.08499999481201206, + "height": 0.10666665798611182 + } + ] + } + } + }, + { + "time": 4.9308, + "frame": 148, + "progress": 45, + "action_description": "爪夹向爪夹方向的上方抬起。", + "state_description": "当前爪夹合拢，抓住灯帽位于桌面上方。\n为完成将灯帽放在酒精灯上的任务:抓取灯帽后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "爪夹向爪夹方向的上方抬起灯帽。因此进度提升至45%", + "error_success_analysis": "爪夹成功将灯帽向爪夹方向的上方抬起。", + "correction_plan": "向爪夹方向的左前方移动并上升，直至灯帽处于酒精灯上方，张开爪夹，使灯帽落到酒精灯上。", + "annotations": { + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": 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{ + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562489_1770784672489_203w57x6b", + "x": 0.609666588765467, + "y": 0.42457403161018625, + "width": 0.08399999487304717, + "height": 0.10666665798611182 + } + ] + } + } + }, + { + "time": 10.4486, + "frame": 313, + "progress": 15, + "action_description": "爪夹向爪夹方向的左上方抬起并张开爪夹。", + "state_description": "当前爪夹张开，与灯帽的垂直距离拉远。\n为完成将灯帽放在酒精灯上的任务:下降并合拢爪夹，抓取灯帽后竖直上升，向爪夹方向的左前方移动。", + "progress_explanation": "爪夹向爪夹方向的左上方抬起并张开爪夹，与灯帽的垂直距离拉远。因此进度下降至15%", + "error_success_analysis": "爪夹移动方向错误，导致拉远与灯帽的垂直距离。", + "correction_plan": "下降并合拢爪夹，抓取灯帽后竖直上升，向爪夹方向的左前方移动，直至灯帽处于酒精灯上方，张开爪夹，使灯帽落到酒精灯上。", + "annotations": { + "bbox_1770784562489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770784562489_1770784677739_ip6sb0wjr", + "x": 0.6116665886433966, + "y": 0.4232406983853599, + "width": 0.0759999953613284, + "height": 0.10666665798611182 + } + ] + } + } + }, + { + "time": 11.876966, + "frame": 356, + "progress": 30, + 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"action_description": "爪夹向爪夹方向的下方下降。", + "state_description": "当前爪夹合拢，与杯子的垂直距离拉近。\n为完成将温度计放入装有蓝色液体的试管中，随后将温度计放回杯子中的任务:张开爪夹，使温度计落到杯子中。", + "progress_explanation": "爪夹向爪夹方向的下方下降，与杯子的垂直距离拉近。因此进度提升至95%", + "error_success_analysis": "爪夹向爪夹方向的下方下降，成功拉近与杯子的垂直距离。", + "correction_plan": "张开爪夹，使温度计落到杯子中。" + }, + { + "time": 16.79724896320468, + "frame": 504, + "progress": 100, + "action_description": "张开爪夹，温度计落到杯子中。", + "state_description": "当前爪夹张开，温度计已落到杯子中。已完成将温度计放入装有蓝色液体的试管中，随后将温度计放回杯子中的任务。", + "progress_explanation": "温度计已经落到杯子中。因此进度提升至", + "error_success_analysis": "爪夹成功将将温度计放入装有蓝色液体的试管中，随后将温度计放回杯子中。", + "correction_plan": "" + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770791155447", + "name": "温度计", + "color": "#4CAF50" + }, + { + "id": "bbox_1770791155606", + "name": "杯子", + "color": "#FF9800" + }, + { + "id": "bbox_1770791155742", + "name": "装有蓝色液体的试管", + "color": "#2196F3" + } + ], + "point_targets": [ + { + "id": "point_1770791156637", + "name": "爪夹左", + "color": 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"用玻璃棒搅拌蓝色溶液，随后将玻璃棒放回玻璃瓶中；\n爪夹并未移动：0%\n爪夹开始移动；10%\n爪夹靠近玻璃棒：20%\n爪夹抓取玻璃棒：30%\n爪夹抓住玻璃棒并开始接近装有蓝色溶液的烧杯：40%\n爪夹将玻璃棒移动至装有蓝色溶液的烧杯上方50%\n爪夹将玻璃棒移动至装有蓝色溶液的烧杯中：60%\n爪夹抓住玻璃棒并开始搅拌蓝色溶液；70%\n爪夹抓住玻璃棒并开始离开装有蓝色溶液的烧杯；80%\n爪夹抓住玻璃棒并移动至玻璃瓶上方；90%\n爪夹张开，使玻璃棒落到玻璃瓶中；100%", + "progress_points": [ + { + "action_description": "爪夹保持打开扶态，准备移动。", + "correction_plan": "向爪夹方向的右前方移动并调整爪夹角度，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有蓝色溶液的烧杯上方，下降爪夹，使玻璃棒落入装有蓝色溶液的烧杯中，搅拌蓝色溶液，随后向爪夹方向的上方抬起爪夹，向爪夹方向的右后方移动，移动至玻璃瓶上方后，张开爪夹，使玻璃棒落到玻璃瓶中。", + "error_success_analysis": "", + "frame": 26, + "progress": 0, + "progress_explanation": "目前爪夹处于初始状态，尚未移动，进度为0%。", + "state_description": "当前状态为爪夹打开，没有移动。\n为完成用玻璃棒搅拌蓝色溶液，随后将玻璃棒放回玻璃瓶中的任务:向爪夹方向的右前方移动并调整爪夹角度，到达玻璃棒的正上方后下降。", + "time": 0.8636873745091153, + "annotations": { + "bbox_1770793187402": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770793187402_1770793213056_mhuzm9h7z", + "x": 0.6686665851643929, + "y": 0.4274999601237012, + "width": 0.0759999953613284, + "height": 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"向爪夹方向的右前方移动并调整爪夹角度，到达玻璃棒的正上方后下降，合拢爪夹抓取玻璃棒后竖直上升，向爪夹方向的左前方移动，直至玻璃棒处于装有蓝色溶液的烧杯上方，下降爪夹，使玻璃棒落入装有蓝色溶液的烧杯中，搅拌蓝色溶液，随后向爪夹方向的上方抬起爪夹，向爪夹方向的右后方移动，移动至玻璃瓶上方后，张开爪夹，使玻璃棒落到玻璃瓶中。", + "error_success_analysis": "爪夹成功向爪夹方向的上方抬起。", + "frame": 63, + "progress": 10, + "progress_explanation": "爪夹向爪夹方向的上方抬起，已开始移动。因此进度提升至10%", + "state_description": "当前爪夹打开，位于桌面上方。\n为完成用玻璃棒搅拌蓝色溶液，随后将玻璃棒放回玻璃瓶中的任务:向爪夹方向的右前方移动并调整爪夹角度，到达玻璃棒的正上方后下降。", + "time": 2.0844776925388806, + "annotations": { + "point_1770793188332": { + "type": "point", + "instances": [ + { + "id": "point_1770793188332_1770793251342_59bs2l3mb", + "x": 0.7796665783894909, + "y": 0.33505552489782514 + } + ] + }, + "point_1770793188222": { + "type": "point", + "instances": [ + { + "id": "point_1770793188222_1770793253918_1e9j2g0pv", + "x": 0.648666586385096, + "y": 0.32972219199851954 + } + ] + }, + "bbox_1770793187658": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770793187658_1770793257874_zrr3c8og9", + "x": 0.5486665924886113, + "y": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..6565d676cdf553840cf0ea218b5c58d7a2b0a7ed --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,905 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..3f59fe8be241ea053ad7bcf4697799b07786162d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-095143-take-pure-milk-out-of-plate-and-put-it-in-red-box-mix1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,778 @@ +{ + "task_description": "把盘子里的牛奶拿出来，放到红色盒子里\n开始移动0%\n爪夹靠近牛奶25%\n爪夹抓取牛奶50%\n爪夹抓取牛奶移动至红色盒子上方75%\n爪夹张开，牛奶落入红色盒子里100%", 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+ { + "color": "#2196F3", + "id": "point_1770886589413", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770886589597", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-112331-take-toast-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-112331-take-toast-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..98acae9e9abcf574cff45029c1ed2553dd96d491 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-112331-take-toast-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,698 @@ +{ + "task_description": "把吐司面包从盘子里拿出来，放到红色的盒子里\n开始移动0%\n爪夹靠近吐司面包25%\n爪夹抓取吐司面包50%\n爪夹抓取吐司面包移动至红色盒子上方75%\n爪夹松开，吐司面包落入红色的盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770886967607": { + "instances": [ + { + "height": 0.30666666666666675, + "id": "bbox_1770886967607_1770886993693_b9peequ1y", + "width": 0.246, + "x": 0.284375, + "y": 0.6511979166666666 + } + ], + "type": "bbox" + }, + "bbox_1770886967781": { + "instances": [ + { + "height": 0.30933333333333335, + "id": "bbox_1770886967781_1770887003206_4rrypjaux", + "width": 0.45099999999999996, + "x": 0.14337500000000003, + "y": 0.00053125 + } + ], + "type": "bbox" + }, + "point_1770886977239": { + "instances": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-140906-take-sliced-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-140906-take-sliced-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5202ce29ea476eec9cc2ddbdc84f92584beed7b8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-140906-take-sliced-bread-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,716 @@ +{ + "task_description": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-162503-take-salted-fish-out-of-plate-and-put-it-in-red-box-mix2/annotations/chunk-000/observation.images.right/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-162503-take-salted-fish-out-of-plate-and-put-it-in-red-box-mix2/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..a6d9c8d8c2d415f7f9c5f5afc882921013c48171 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-162503-take-salted-fish-out-of-plate-and-put-it-in-red-box-mix2/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,676 @@ +{ + "task_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-171359-take-beef-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..21bf9ef25849e50ce5985efa6809e5c2b433c40e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-171359-take-beef-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,562 @@ +{ + "task_description": "把盘子里的牛肉拿出来，放到红色盒子里\n开始移动0%\n爪夹靠近盘子里的牛肉20%\n爪夹抓取盘子里的牛肉40%\n爪夹抓取盘子里的牛肉接近红色盒子60%\n爪夹将盘子里的牛肉放入红色盒子80%\n爪夹松开，盘子里的牛肉落入红色盒子中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-181139-take-bulk-began-fruit-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-181139-take-bulk-began-fruit-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..a0959db3ca2c8a15648a8b6e4c9c5a510a71ba01 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-guoyijia/20260127-181139-take-bulk-began-fruit-out-of-plate-and-put-it-in-red-box-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,420 @@ +{ + "task_description": "把盘子里的褐色面包拿出来，放到红色盒子里\n开始移动0%\n爪夹靠近盘子里的褐色面包20%\n爪夹抓取盘子里的褐色面包40%\n爪夹抓取盘子里的褐色面包接近红色盒子60%\n爪夹将盘子里的褐色面包放入红色盒子80%\n爪夹松开，盘子里的褐色面包落入红色盒子中100%", + "progress_points": [ + { + "time": 0.622066, + "frame": 19, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离盘子里的褐色面包，未开始移动。\n为完成把盘子里的褐色面包拿出来，放到红色盒子里的任务：爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前方向移动至盘子里的褐色面包的上方", + "progress_explanation": "爪夹张开，远离盘子里的褐色面包，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹调整爪夹角度使其垂直于桌面并向爪夹方向的右前坊向移动至盘子里的褐色面包的正上方。爪夹垂直下降靠近盘子里的褐色面包，爪夹合拢抓取盘子里的褐色面包。抓紧盘子里的褐色面包向爪夹上方抬升并向左方的红色盒子移动至红色盒子正上方。爪夹下落将盘子里的褐色面包放在下方的红色盒子中，爪夹张开盘子里的褐色面包落在下方的红色盒子中", + "annotations": { + "bbox_1771984010327": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984010327_1771984207959_78em9xbf0", + "x": 0.638036809815951, + "y": 0.22903885480572597, + "width": 0.12065439672801634, + "height": 0.147239263803681 + } + ] + }, + "bbox_1771984018974": { + "type": "bbox", + "instances": [ + { + "id": 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"抓紧盘子里的褐色面包向爪夹左前方的红色盒子移动至红色盒子正上方。爪夹下落将盘子里的褐色面包放在下方的红色盒子中，爪夹张开盘子里的褐色面包落在下方的红色盒子中", + "annotations": { + "bbox_1771984010327": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984010327_1771986959097_z5et7vslo", + "x": 0.7750511247443763, + "y": 0.043626448534424, + "width": 0.16768916155419228, + "height": 0.21540558963871845 + } + ] + }, + "bbox_1771984018974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984018974_1771986971024_g2xpzx2m0", + "x": 0.15950920245398775, + "y": 0.0027266530334014998, + "width": 0.39877300613496935, + "height": 0.3653715064758009 + } + ] + } + } + }, + { + "time": 10.8934, + "frame": 327, + "progress": 60, + "action_description": "抓取盘子里的褐色面包的爪夹向爪夹的左前方向移动", + "state_description": "爪夹当前抓取褐色面包位于红色盒子的上方。\n为完成把盘子里的褐色面包拿出来，放到红色盒子里的任务：抓取盘子里的褐色面包的爪夹向爪夹方向的前方移动并下落将褐色面包方在红色盒子中", + "progress_explanation": "爪夹向左前移动至红色盒子的后侧边缘，因此进度提升为60%", + "error_success_analysis": "爪夹抓取褐色面包向左前移动至红色盒子的边缘上方，接近红色盒子", + "correction_plan": "爪夹向爪夹前方移动并下落将盘子里的褐色面包放在下方的红色盒子中，爪夹张开盘子里的褐色面包落在下方的红色盒子中", + "annotations": { + "bbox_1771984018974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984018974_1771987190745_nacsgq39f", + "x": 0.16359918200409, + "y": 0.0027266530334014998, + "width": 0.4069529652351738, + "height": 0.3708248125426039 + } + ] + } + } + }, + { + "time": 12.873708, + "frame": 386, + "progress": 80, + "action_description": "抓取褐色面包的爪夹向爪夹下方下落", + "state_description": "爪夹当前的状态为爪夹抓取褐色面包，位于红色盒子中\n为完成把盘子里的褐色面包拿出来，放到红色盒子里的任务：爪夹张开褐色面包落在下方的红色盒子里", + "progress_explanation": "爪夹下落将褐色面包放在红色盒子中，因此进度提升为80%", + "error_success_analysis": "爪夹向爪夹下方移动将抓取的褐色面包放在下方的红色盒子中", + "correction_plan": "爪夹张开盘子里的褐色面包落在下方的红色盒子中", + "annotations": { + "bbox_1771984018974": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984018974_1771987437968_9tbwnu94s", + "x": 0.16359918200409, + "y": 0.0054533060668029995, + "width": 0.39468302658486715, + "height": 0.37082481254260397 + } + ] + } + } + }, + { + "time": 14.2352, + 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file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-lilingchu/20260127-104445-take-power strip-yellow box-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-lilingchu/20260127-104445-take-power strip-yellow box-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..4f2e9d5d512c57cddf036196d6d17956d81014b7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-lilingchu/20260127-104445-take-power strip-yellow box-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,686 @@ +{ + "task_description": "把插线板从碗里拿出来，放进黄色的盒子里。\n开始移动0%\n爪夹靠近插线板20%\n爪夹抓取插线板40%\n爪夹抓住插线板靠近黄色的盒子60%\n爪夹将插线板移动到黄色的盒子上方80%\n爪夹松开，插线板落入黄色的盒子里100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹方向升起并向右前方移动，同时调整爪夹的角度使其垂直于桌面，并移动到插线板的正上方。接着落下爪夹靠近插线板，接近插线板后爪夹合拢抓取插线板。爪夹抓紧插线板垂直升高并向爪夹方向左前方黄色的盒子靠近，移动到黄色盒子的正上方，松开爪夹，使插线板落入黄色的盒子里。", + "error_success_analysis": "", + "frame": 37, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动。因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离插线板，未开始移动。\n为完成把插线板从碗里拿出来，放进黄色的盒子里的任务应当：爪夹向爪夹方向上方升起并向右前方的插线板移动，同时调整爪夹的角度使其垂直于桌面，并移动的到插线板的正上方。", + "time": 1.240164, + "annotations": { + "bbox_1771990188045": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771990188045_1771990370037_2qag9a6oy", + "x": 0.5722854762565954, + "y": 0.47062235798697893, + "width": 0.16232528001481067, + "height": 0.14850195933228427 + } + ] + }, + "point_1771990189734": { + "type": "point", + "instances": [ + { + "id": "point_1771990189734_1771991107820_kefbmaij9", + "x": 0.38270850689623254, + "y": 0.3221203986546947 + } + ] + }, + "point_1771990190124": { + "type": "point", + "instances": [ + { + 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"#2196F3" + }, + { + "id": "point_1772007601104", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260126-175426-put-potatoes-bitter melon-mix/annotations/chunk-000/observation.images.head/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260126-175426-put-potatoes-bitter melon-mix/annotations/chunk-000/observation.images.head/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..52b133dcae687a967c81994f533aca2d4c0369c5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260126-175426-put-potatoes-bitter melon-mix/annotations/chunk-000/observation.images.head/episode_000001.json @@ -0,0 +1,462 @@ +{ + "task_description": "抓取土豆放到右侧桌面上：\n准备开始移动：0%\n爪夹靠近土豆：20%\n爪夹抓取土豆：40%\n爪夹夹紧土豆接近右侧桌面：60%\n爪夹夹紧土豆将土豆放到右侧桌面：80%\n爪夹松开土豆落到右侧桌面上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.10399999999999997, + "id": "bbox_1770879385287_1770879416379_6ayzexhlj", + "width": 0.08299999999999996, + "x": 0.36350000000000005, + "y": 0.49600000000000005 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7106666666666667, + "id": "bbox_1770879389966_1770879420649_uzgu857yc", + "width": 0.7619999999999999, + "x": 0.20950000000000002, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。爪夹垂直下降靠近土豆，爪夹合拢抓取土豆。夹紧土豆爪夹垂直升高，并向爪夹右方移动下降，靠近右侧桌面正上方。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "", + "frame": 34, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹向爪夹右前方移动下降，调整爪夹角度接近垂直于桌面，来到土豆正上方。", + "time": 1.1185567010309279 + }, + { + "action_description": "爪夹向爪夹右前方移动下降", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.11066666666666655, + "id": "bbox_1770879385287_1770879430199_y99wprsac", + "width": 0.09700000000000006, + "x": 0.3465, + "y": 0.49200000000000005 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7026666666666667, + "id": "bbox_1770879389966_1770879444849_qz3fsgg1k", + "width": 0.774, + "x": 0.20150000000000007, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近土豆。爪夹合拢抓取土豆。夹紧土豆爪夹垂直升高，并向爪夹右方移动下降，靠近右侧桌面正上方。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹向爪夹右前方移动下降，缩短了与土豆之间的距离。方便抓取土豆。", + "frame": 61, + "progress": 10, + "progress_explanation": "爪夹角度接近平行于桌面。水平上接近了土豆。因此进度提升为10%。", + "state_description": "爪夹张开，爪夹角度接近平行于桌面。水平上接近了土豆。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹调整爪夹角度使其接近垂直于桌面，爪夹向爪夹右前方移动下降靠近土豆。", + "time": 2.029999 + }, + { + "action_description": "爪夹向正前方移动下降并调整爪夹角度", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.10933333333333337, + "id": "bbox_1770879385287_1770879456826_9a96eftib", + "width": 0.11099999999999999, + "x": 0.36750000000000005, + "y": 0.516 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7266666666666667, + "id": "bbox_1770879389966_1770879462037_inwb85nx2", + "width": 0.7709999999999999, + "x": 0.20249999999999999, + "y": 0.2653333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹垂直下降靠近土豆。爪夹合拢抓取土豆。爪夹夹紧土豆爪夹垂直升高，并向爪夹右方移动下降，靠近右侧桌面正上方。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹向正前方移动下降来到了土豆正上方，方便抓取土豆。", + "frame": 100, + "progress": 18, + "progress_explanation": "爪夹张开，位于土豆正上方。方便下降抓取土豆，因此进度提升为18%。", + "state_description": "爪夹张开，位于土豆正上方。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹垂直下降靠近土豆。爪夹合拢抓取土豆。", + "time": 3.332 + }, + { + "action_description": "爪夹垂直下降", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.08799999999999995, + "id": "bbox_1770879385287_1770879468838_5clz4b4ax", + "width": 0.10699999999999994, + "x": 0.36950000000000005, + "y": 0.5293333333333333 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7106666666666667, + "id": "bbox_1770879389966_1770879472913_5lg5rn4m0", + "width": 0.796, + "x": 0.1825, + "y": 0.2853333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹合拢抓取土豆。爪夹夹紧土豆爪夹垂直升高，并向爪夹右方移动下降，靠近右侧桌面正上方。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹垂直下降靠近了土豆，方便抓取土豆。", + "frame": 120, + "progress": 20, + "progress_explanation": "爪夹角度与桌面接近垂直，靠近了土豆。方便抓取土豆，因此进度提升为20%。", + "state_description": "爪夹张开，爪夹角度与桌面接近垂直，靠近了土豆。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹合拢抓取土豆。", + "time": 3.99 + }, + { + "action_description": "爪夹垂直升高并合拢", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + 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"bbox" + } + }, + "correction_plan": "爪夹夹紧土豆向爪夹右方移动下降，靠近右侧桌面正上方。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹夹紧土豆垂直升高出了黄色框，方便移动土豆。", + "frame": 276, + "progress": 50, + "progress_explanation": "爪夹夹紧土豆位于半空中。方便移动土豆，因此进度提升为50%。", + "state_description": "爪夹夹紧土豆出了黄色框，位于半空中。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹夹紧土豆向爪夹右方移动下降，靠近右侧桌面正上方。", + "time": 9.2 + }, + { + "action_description": "爪夹夹紧土豆向爪夹右方移动", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.14400000000000002, + "id": "bbox_1770879385287_1770879583448_vorpf3lc8", + "width": 0.08600000000000003, + "x": 0.6655, + "y": 0.31466666666666665 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.712, + "id": "bbox_1770879389966_1770879579267_m20h28099", + "width": 0.7539999999999999, + "x": 0.21150000000000002, + "y": 0.2813333333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹夹紧土豆向爪夹右方移动下降，靠近右侧桌面。爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹夹紧土豆向爪夹右方移动缩短了右侧桌面的距离。", + "frame": 315, + "progress": 60, + "progress_explanation": "爪夹夹紧土豆接近了右侧桌面。位于右侧桌面正上方。方便将土豆放到桌面上。因此进度提升为60%。", + "state_description": "爪夹夹紧土豆接近了右侧桌面。位于右侧桌面正上方。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹夹紧土豆向爪夹右方移动下降，靠近右侧桌面。", + "time": 10.485567010309277 + }, + { + "action_description": "爪夹夹紧土豆向爪夹右前方移动下降", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.12133333333333335, + "id": "bbox_1770879385287_1770879593043_5r8d6mqzw", + "width": 0.071, + "x": 0.7045, + "y": 0.47200000000000003 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7026666666666667, + "id": "bbox_1770879389966_1770879597640_tpgna8wfz", + "width": 0.757, + "x": 0.2125, + "y": 0.2813333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹松开，土豆落到右侧桌面上。", + "error_success_analysis": "爪夹夹紧土豆向爪夹右前方移动下降土豆放到了桌面上，方便土豆完全落到桌面上。", + "frame": 345, + "progress": 80, + "progress_explanation": "爪夹夹紧土豆将土豆放到了桌面上。因此进度提升为80%。", + "state_description": "爪夹夹紧土豆将土豆放到了桌面上。\n为完成抓取土豆放到右侧桌面上的任务应当：爪夹松开，土豆落到右侧桌面上。", + "time": 11.508 + }, + { + "action_description": "爪夹张开", + "annotations": { + "bbox_1770879385287": { + "instances": [ + { + "height": 0.10933333333333344, + "id": "bbox_1770879385287_1770879610013_ehfcb101q", + "width": 0.10200000000000005, + "x": 0.6925, + "y": 0.492 + } + ], + "type": "bbox" + }, + "bbox_1770879389966": { + "instances": [ + { + "height": 0.7133333333333333, + "id": "bbox_1770879389966_1770879619123_73ya1digm", + "width": 0.765, + "x": 0.20550000000000002, + "y": 0.2826666666666667 + } + ], + "type": "bbox" + } + }, + "correction_plan": "", + "error_success_analysis": "爪夹松开土豆落到右侧桌面上，任务完成。", + "frame": 361, + "progress": 100, + "progress_explanation": "爪夹张开，土豆落到了右侧桌面上。因此进度提升为100%。", + "state_description": "爪夹张开，土豆落到了右侧桌面上。\n抓取土豆放到右侧桌面上的任务目标完成。", + "time": 12.029896907216495 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770879385287", + "name": "土豆" + }, + { + "color": "#FF9800", + "id": "bbox_1770879389966", + "name": "桌面" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770879399910", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770879404360", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-095758-put-inner pot of the rice cooker-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-095758-put-inner pot of the rice cooker-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..e30dc51c88dbbe2786646e888a88669197d4c221 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-095758-put-inner pot of the rice cooker-yellow-cardboard box-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,674 @@ +{ + "task_description": "抓取内锅放入黄色纸箱中：\n准备开始移动：0%\n爪夹靠近内锅：20%\n爪夹抓取内锅：40%\n爪夹夹紧内锅接近黄色纸箱：60%\n爪夹夹紧内锅靠近黄色纸箱：80%\n爪夹松开内锅落到黄色纸箱里：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770881570759": { + "instances": [ + { + "height": 0.11600000000000002, + "id": "bbox_1770881570759_1770881600278_g76ha4qy5", + "width": 0.11200000000000002, + "x": 0.7145, + "y": 0.8119999999999999 + } + ], + "type": "bbox" + }, + "bbox_1770881575295": { + "instances": [ + { + "height": 0.36133333333333334, + "id": "bbox_1770881575295_1770881605673_jmnioybmn", + "width": 0.39, + "x": 0.2795, + "y": 0.632 + } + ], + "type": "bbox" + }, + "point_1770881584761": { + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-141223-put-white-spoon-iron rack-mix/annotations/chunk-000/observation.images.wrist/episode_000001.json @@ -0,0 +1,732 @@ +{ + "task_description": "把蓝色储物盒里的白色勺子放到铁架上\n准备开始移动：0%\n爪夹靠近白色勺子：20%\n爪夹抓取白色勺子：40%\n爪夹抓紧白色勺子接近铁架：60%\n爪夹松开使白色勺子落在铁架上：80%\n爪夹远离铁架：100%", + "progress_points": [ + { + "time": 1.227399, + "frame": 37, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离白色勺子，未开始移动。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹向爪夹右前方的白色勺子移动，同时调整爪夹的角度，并移动到白色勺子的正上方。", + "progress_explanation": "当前为初始状态，远离白色勺子，未开始移动。进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的白色勺子移动，同时调整爪夹的角度，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的铁架接近，水平到达铁架的正上方后，松开爪夹，使白色勺子落在铁架上。接着爪夹向爪夹后上方移动，远离铁架。", + "annotations": { + "bbox_1771904589382": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹向爪夹后方移动，同时张开爪夹。", + "correction_plan": "爪夹向爪夹正前方的白色勺子移动，同时调整爪夹的角度，并移动到白色勺子的正上方。接着落下爪夹靠近白色勺子，接近白色勺子后爪夹合拢抓取白色勺子。抓紧白色勺子垂直升高爪夹并向爪夹右前方的铁架接近，水平到达铁架的正上方后，松开爪夹，使白色勺子落在铁架上。接着爪夹向爪夹后上方移动，远离铁架。", + "error_success_analysis": "爪夹向爪夹后方移动，同时张开爪夹，准备向白色勺子靠近。", + "frame": 191, + "progress": 5, + "progress_explanation": "爪夹向爪夹后方移动，同时张开爪夹，准备向白色勺子靠近。因此进度提升为5%。", + "state_description": "爪夹向爪夹后方移动，同时张开爪夹，准备向白色勺子靠近。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹向爪夹正前方的白色勺子移动，同时调整爪夹的角度，并移动到白色勺子的正上方。", + "time": 6.366666666666666, + "annotations": { + "point_1771904604747": { + "type": "point", + "instances": [ + { + "id": "point_1771904604747_1771912018592_px5tzjw2v", + "x": 0.396, + "y": 0.5182222086588542 + } + ] + }, + "point_1771904610547": { + "type": "point", + "instances": [ + { + "id": "point_1771904610547_1771912021040_8gqd0pywv", + "x": 0.618, + "y": 0.5182222086588542 + } + ] + } + } + }, + { + "time": 7.493599, + "frame": 225, + "progress": 10, + "action_description": "爪夹垂直升高，并向爪夹正前方移动。", + "state_description": 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"爪夹垂直升高并张开爪夹，需重新靠近白色勺子。因此进度降低为10%。", + "state_description": "爪夹垂直升高并张开爪夹，需重新靠近白色勺子。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹向爪夹左前方移动，重新靠近白色勺子。", + "time": 10.633333333333333, + "annotations": { + "bbox_1771904589382": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904589382_1771912078655_cr65lwpiv", + "x": 0.358, + "y": 0.1551111043294271, + "width": 0.15, + "height": 0.23599999999999996 + } + ] + }, + "bbox_1771904596877": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904596877_1771912088559_0o5v3oyyw", + "x": 0.619, + "y": -0.0017777913411458335, + "width": 0.25200000000000006, + "height": 0.42400000000000004 + } + ] + }, + "point_1771904604747": { + "type": "point", + "instances": [ + { + "id": "point_1771904604747_1771912092558_qckbq8xao", + "x": 0.399, + "y": 0.5088888753255209 + } + ] + }, + "point_1771904610547": { + "type": "point", + "instances": [ + { + "id": "point_1771904610547_1771912095719_5m7bgaqgx", + "x": 0.619, + "y": 0.5235555419921876 + } + ] + } + } + 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"爪夹合拢抓取到白色勺子。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹抓紧白色勺子垂直升高并向爪夹右前方的铁架接近。", + "progress_explanation": "爪夹合拢，成功抓取到白色勺子。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到白色勺子。", + "correction_plan": "爪夹抓紧白色勺子垂直升高并向爪夹右前方的铁架接近，水平到达铁架的正上方后，松开爪夹，使白色勺子落在铁架上。接着爪夹向爪夹后上方移动，远离铁架。", + "annotations": { + "bbox_1771904589382": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904589382_1771912121287_atdsbhfhr", + "x": 0.462, + "y": 0.3257777709960938, + "width": 0.35300000000000004, + "height": 0.448 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高并向爪夹后方移动。", + "correction_plan": "爪夹抓紧白色勺子向爪夹右前方的铁架接近，水平到达铁架的正上方后，松开爪夹，使白色勺子落在铁架上。接着爪夹向爪夹后上方移动，远离铁架。", + "error_success_analysis": "爪夹夹紧白色勺子垂直升高并向爪夹后方移动，准备向铁架靠近。", + "frame": 419, + "progress": 50, + "progress_explanation": "爪夹夹紧白色勺子垂直升高并向爪夹后方移动，准备向铁架靠近。因此进度提升为50%。", + "state_description": "爪夹夹紧白色勺子垂直升高并向爪夹后方移动，准备向铁架靠近。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹抓紧白色勺子向爪夹右前方的铁架接近。", + "time": 13.9633674814433, + "annotations": { + "bbox_1771904589382": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904589382_1771912134854_4346uc6uq", + "x": 0.487, + "y": 0.3737777709960938, + "width": 0.372, + "height": 0.36799999999999994 + } + ] + } + } + }, + { + "time": 15.611666, + "frame": 468, + "progress": 55, + "action_description": "爪夹向爪夹右前方移动。", + "state_description": "爪夹夹紧白色勺子向爪夹右前方移动，开始向铁架接近。\n为完成把蓝色储物盒里的白色勺子放到铁架上的任务应当：爪夹抓紧白色勺子向爪夹右前方的铁架接近。", + "progress_explanation": "爪夹夹紧白色勺子向爪夹右前方移动，开始向铁架接近。因此进度提升为55%。", + "error_success_analysis": "爪夹夹紧白色勺子向爪夹右前方移动，开始向铁架接近。", + "correction_plan": "爪夹抓紧白色勺子向爪夹右前方的铁架接近，水平到达铁架的正上方后，松开爪夹，使白色勺子落在铁架上。接着爪夹向爪夹后上方移动，远离铁架。", + "annotations": { + "bbox_1771904589382": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904589382_1771912150366_cypooxqz3", + "x": 0.49000000000000005, + "y": 0.3724444376627604, + "width": 0.37200000000000005, + "height": 0.3706666666666667 + } + ] + }, + "bbox_1771904596877": { + "type": "bbox", + "instances": [ + { + "id": 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"bbox_1771904596877": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771904596877_1771912314084_fmkwmhpsk", + "x": 0.318, + "y": 0.0035555419921875003, + "width": 0.42400000000000004, + "height": 0.336 + } + ] + }, + "point_1771904604747": { + "type": "point", + "instances": [ + { + "id": "point_1771904604747_1771912318794_mr6kkw9q6", + "x": 0.395, + "y": 0.5128888753255209 + } + ] + }, + "point_1771904610547": { + "type": "point", + "instances": [ + { + "id": "point_1771904610547_1771912321818_7zfny45gk", + "x": 0.62, + "y": 0.5342222086588542 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1771904589382", + "name": "白色勺子", + "color": "#4CAF50" + }, + { + "id": "bbox_1771904596877", + "name": "铁架", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1771904604747", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1771904610547", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-145723-put-blue-storage box-metal shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-145723-put-blue-storage box-metal shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..e4f7a6bdf1f6d24065e3320bc0a03079822095d5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-145723-put-blue-storage box-metal shelf-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,390 @@ +{ + "task_description": "把蓝色储物箱放回金属货架上。\n准备开始移动：0%\n爪夹靠近储物盒左侧：20%\n爪夹将储物盒左侧推进去：40%\n爪夹靠近储物盒右侧：60%\n爪夹将储物盒右侧推进去：80%\n爪夹将储物盒完全推回货架后远离储物盒：100%\n", + "progress_points": [ + 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box-mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,498 @@ +{ + "task_description": "把黑色手提包放入黄色纸板箱中。\n准备开始移动：0%\n爪夹靠近黑色手提包：20%\n爪夹抓取黑色手提包：40%\n爪夹抓紧黑色手提包接近黄色纸板箱：60%\n爪夹松开使黑色手提包落入黄色纸板箱：80%\n爪夹远离黄色纸板箱：100%", + "progress_points": [ + { + "time": 1.507566, + "frame": 45, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黑色手提包，未开始移动。\n为完成把黑色手提包放入黄色纸板箱中的任务应当：爪夹向爪夹正前方的手提包移动，同时调整爪夹的角度，并移动到手提包的正上方。", + "progress_explanation": "当前为初始状态，远离黑色手提包，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹正前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920080291_z14hlnoq9", + "x": 0.270375, + "y": 0.5701979166666666, + "width": 0.15000000000000005, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1771917541581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917541581_1771920085336_y00ne3qbs", + "x": 0.47837499999999994, + "y": 0.2741979166666667, + "width": 0.516, + "height": 0.6986666666666667 + } + ] + } + } + }, + { + "time": 2.22667959806701, + "frame": 67, + "progress": 5, + "action_description": "爪夹调整爪夹角度。", + "state_description": "爪夹张开调整爪夹角度，还未接近黑色手提包。\n为完成把黑色手提包放入黄色纸板箱中的任务应当：爪夹向爪夹正前方的手提包移动，同时调整爪夹的角度，并移动到手提包的正上方。", + "progress_explanation": "爪夹张开调整爪夹角度，还未接近黑色手提包。因此进度提升为5%。", + "error_success_analysis": "爪夹张开调整爪夹角度，还未接近黑色手提包。", + "correction_plan": "爪夹向爪夹正前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920096856_ijgqjh3fj", + "x": 0.28137500000000004, + "y": 0.5688645833333333, + "width": 0.13599999999999998, + "height": 0.1706666666666667 + } + ] + }, + "bbox_1771917541581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917541581_1771920101527_xknx9d5fo", + "x": 0.477375, + "y": 0.2741979166666667, + "width": 0.515, + "height": 0.6866666666666668 + } + ] + } + } + }, + { + "time": 3.247066, + "frame": 97, + "progress": 15, + "action_description": "爪夹垂直向下移动。", + "state_description": "爪夹张开垂直向下移动，开始靠近黑色手提包。\n为完成把黑色手提包放入黄色纸板箱中的任务应当：爪夹向爪夹正前方的手提包移动，同时调整爪夹的角度，并移动到手提包的正上方。", + "progress_explanation": "爪夹张开垂直向下移动，开始靠近黑色手提包。方便抓取，因此进度提升为15%。", + "error_success_analysis": "爪夹张开垂直向下移动，开始靠近黑色手提包。方便抓取。", + "correction_plan": "爪夹向爪夹正前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920125343_szbzjguhp", + "x": 0.226375, + "y": 0.5715312499999999, + "width": 0.19800000000000004, + 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0.5119999999999999, + "height": 0.6946666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高同时张开爪夹。", + "correction_plan": "爪夹向爪夹下方移动，重新靠近黑色手提包。爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + "error_success_analysis": "爪夹垂直升高远离了黑色手提包，需重新靠近黑色手提包。", + "frame": 192, + "progress": 10, + "progress_explanation": "爪夹垂直升高远离了黑色手提包，需重新靠近黑色手提包。因此进度降低为10%。", + "state_description": "爪夹垂直升高远离了黑色手提包，需重新靠近黑色手提包。\n为完成把黑色手提包放入黄色纸板箱中的任务应当：爪夹向爪夹下方移动，重新靠近黑色手提包。", + "time": 6.411043943427835, + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920207098_81y4cjvpn", + "x": 0.279375, + "y": 0.53553125, + "width": 0.14200000000000004, + "height": 0.18133333333333337 + } + ] + }, + "bbox_1771917541581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917541581_1771920216181_nuukdlkg4", + "x": 0.47837500000000005, + "y": 0.27953125, + "width": 0.5169999999999999, + 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"action_description": "爪夹合拢。", + "state_description": "爪夹合拢，成功抓取到黑色手提包。\n为完成把黑色手提包放入黄色纸板箱中的任务应当：爪夹抓紧黑色手提包垂直升高并向爪夹右方的黄色纸板箱接近。", + "progress_explanation": "爪夹合拢，成功抓取到黑色手提包。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，成功抓取到黑色手提包。", + "correction_plan": "爪夹抓紧黑色手提包垂直升高并向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920269411_zuhoemard", + "x": 0.28937500000000005, + "y": 0.5168645833333333, + "width": 0.14099999999999996, + "height": 0.20000000000000007 + } + ] + }, + "bbox_1771917541581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917541581_1771920274251_bo98988yb", + "x": 0.477375, + "y": 0.27019791666666665, + "width": 0.517, + "height": 0.6866666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "爪夹抓紧黑色手提包向爪夹右方的黄色纸板箱接近，水平到达黄色纸板箱的正上方后松开爪夹，使黑色手提包落入黄色纸板箱中。最后爪夹向爪夹左后方移动远离黄色纸板箱。", + 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"爪夹松开，黑色手提包成功落入黄色纸板箱。", + "correction_plan": "爪夹向爪夹左后方移动远离黄色纸板箱。", + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917530989_1771920325811_pg45ljcn7", + "x": 0.604375, + "y": 0.6315312500000001, + "width": 0.13200000000000003, + "height": 0.12133333333333324 + } + ] + }, + "bbox_1771917541581": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771917541581_1771920334906_qhwefw5se", + "x": 0.4793750000000001, + "y": 0.27553125, + "width": 0.5159999999999998, + "height": 0.6853333333333335 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹张开向爪夹左后方移动，远离黄色纸板箱。任务完成。", + "frame": 496, + "progress": 100, + "progress_explanation": "爪夹张开向爪夹左后方移动，远离黄色纸板箱。任务完成。因此进度提升为100%。", + "state_description": "爪夹张开向爪夹左后方移动，远离黄色纸板箱。\n把黑色手提包放入黄色纸板箱中的任务完成。", + "time": 16.533333333333335, + "annotations": { + "bbox_1771917530989": { + "type": "bbox", + "instances": [ + { + "id": 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box-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-171419-put-silver-teacup-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..ed16605b78d2c88b351b29157d2847f6108ef743 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-171419-put-silver-teacup-yellow-cardboard box-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,492 @@ +{ + "task_description": "把白色盒子上的银色茶杯放进黄色纸箱里。\n准备开始移动：0%\n爪夹靠近银色杯子：20%\n爪夹抓取银色杯子：40%\n爪夹抓紧银色杯子接近黄色纸箱：60%\n爪夹松开使银色杯子落入黄色纸箱：80%\n爪夹远离黄色纸箱：100%", + "progress_points": [ + { + "time": 1.1888273195876289, + "frame": 36, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": 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"爪夹抓紧银色杯子水平到达黄色纸箱的正上方后松开爪夹，使银色杯子落入黄色纸箱。\n为完成把白色盒子上的银色茶杯放进黄色纸箱里的任务应当：爪夹向爪夹后方移动远离黄色纸箱。", + "progress_explanation": "爪夹抓紧银色杯子水平到达黄色纸箱的正上方后松开爪夹，使银色杯子成功落入黄色纸箱。因此进度提升为80%。", + "error_success_analysis": "爪夹抓紧银色杯子水平到达黄色纸箱的正上方后松开爪夹，使银色杯子成功落入黄色纸箱。", + "correction_plan": "爪夹向爪夹后方移动远离黄色纸箱。", + "annotations": { + "bbox_1771920667060": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771920667060_1771924673618_w1jd49m0k", + "x": 0.525375, + "y": 0.2661979166666667, + "width": 0.47400000000000003, + "height": 0.6226666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹张开向爪夹后方移动，远离了黄色纸箱。任务完成。", + "frame": 572, + "progress": 100, + "progress_explanation": "爪夹张开向爪夹后方移动，远离了黄色纸箱。任务完成，因此进度提升为100%。", + "state_description": "爪夹张开向爪夹后方移动，远离了黄色纸箱。\n把白色盒子上的银色茶杯放进黄色纸箱里的任务完成。", + "time": 19.066666666666666, + "annotations": { + "bbox_1771920667060": { + "type": "bbox", + "instances": [ + { + "id": 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shelf-mix/annotations/chunk-000/observation.images.bird/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..130bf493385f8a133bf91e797a9476ddf34dadb4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260127-songjiaqi/20260127-180059-put-black-handbag-iron shelf-mix/annotations/chunk-000/observation.images.bird/episode_000003.json @@ -0,0 +1,612 @@ +{ + "task_description": "把黄色纸盒里的黑色手提包放到铁架子上。\n准备开始移动：0%\n爪夹靠近黑色手提包：20%\n爪夹抓取黑色手提包：40%\n爪夹抓紧黑色手提包靠近铁架：60%\n爪夹松开，黑色手提包落在铁架上：80%\n爪夹远离铁架：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "", + "frame": 42, + "progress": 0, + "progress_explanation": "当前为初始状态，远离黑色手提包，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离黑色手提包，未开始移动。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。", + "time": 1.413766, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983258036_vx42n5wta", + "x": 0.5503750000000001, + "y": 0.39586458333333335, + "width": 0.16900000000000004, + "height": 0.17199999999999996 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983265331_rus3ivv2t", + "x": 0.898375, + "y": 0.4278645833333333, + "width": 0.09800000000000005, + "height": 0.24400000000000002 + } + ] + }, + "point_1771925150238": { + "type": "point", + "instances": [ + { + "id": "point_1771925150238_1771983274216_c1mb4f20e", + "x": 0.41937499999999994, + "y": 0.55453125 + } + ] + }, + "point_1771925155332": { + "type": "point", + "instances": [ + { + "id": "point_1771925155332_1771983277434_62g085nse", + "x": 0.537375, + "y": 0.59453125 + } + ] + } + } + }, + { + "action_description": "爪夹调整爪夹角度。", + "correction_plan": "爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹张开调整爪夹角度，还未接近黑色手提包。", + "frame": 70, + "progress": 5, + "progress_explanation": "爪夹张开调整爪夹角度，还未接近黑色手提包。因此进度提升为5%。", + "state_description": "爪夹张开调整爪夹角度，还未接近黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。", + "time": 2.343366, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983284908_ml0nkra2d", + "x": 0.545375, + "y": 0.39586458333333335, + "width": 0.17400000000000002, + "height": 0.17333333333333337 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983292806_936fu5uqr", + "x": 0.892375, + "y": 0.42253124999999997, + "width": 0.10400000000000009, + "height": 0.24800000000000005 + } + ] + }, + "point_1771925155332": { + "type": "point", + "instances": [ + { + "id": "point_1771925155332_1771983297600_0nlhm43eq", + "x": 0.600375, + "y": 0.5985312500000001 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "correction_plan": "爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹张开向爪夹右前方移动，开始向黑色手提包接近。", + "frame": 109, + "progress": 10, + "progress_explanation": "爪夹张开向爪夹右前方移动，开始向黑色手提包接近。因此进度提升为10%。", + "state_description": "爪夹张开向爪夹右前方移动，开始向黑色手提包接近。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹向爪夹右前方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。", + "time": 3.641232880541237, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983316585_lyvnvrfvg", + "x": 0.5493750000000001, + "y": 0.39853125000000006, + "width": 0.16799999999999998, + "height": 0.16666666666666666 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983321566_ssq5yb52y", + "x": 0.892375, + "y": 0.4238645833333334, + "width": 0.10500000000000007, + "height": 0.24266666666666664 + } + ] + } + } + }, + { + "action_description": "爪夹垂直向下移动，又垂直升高。", + "correction_plan": "爪夹向爪夹左下方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹张开垂直向下移动，中途机械臂卡住，爪夹又垂直升高，调整角度。", + "frame": 172, + "progress": 5, + "progress_explanation": "爪夹张开垂直向下移动，中途机械臂卡住，爪夹又垂直升高，调整角度。因此进度降低为5%。", + "state_description": "爪夹张开垂直向下移动，中途机械臂卡住，爪夹又垂直升高，调整角度。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹向爪夹左下方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。", + "time": 5.737624669201031, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983334017_42o2f9u32", + "x": 0.5493750000000001, + "y": 0.39186458333333335, + "width": 0.16799999999999998, + "height": 0.18400000000000005 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983342769_l69agrc1n", + "x": 0.8963749999999999, + "y": 0.4291979166666667, + "width": 0.10000000000000017, + "height": 0.2373333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左边移动。", + "correction_plan": "爪夹向爪夹左下方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。接着落下爪夹靠近黑色手提包，接近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹张开向爪夹左边移动，重新向黑色手提包靠近。", + "frame": 216, + "progress": 10, + "progress_explanation": "爪夹张开向爪夹左边移动，重新向黑色手提包靠近。因此进度提升为10%。", + "state_description": "爪夹张开向爪夹左边移动，重新向黑色手提包靠近。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹向爪夹左下方的黑色手提包移动，同时调整爪夹的角度，并移动到黑色手提包的正上方。", + "time": 7.185033, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983356225_j4sv919qt", + "x": 0.552375, + "y": 0.40253125, + "width": 0.15200000000000005, + "height": 0.16933333333333334 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983366761_stqv9p1c4", + "x": 0.891375, + "y": 0.4238645833333334, + "width": 0.10600000000000005, + "height": 0.24666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左边移动，同时向下移动。", + "correction_plan": "爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹张开向爪夹左下方移动，靠近了黑色手提包。", + "frame": 253, + "progress": 20, + "progress_explanation": "爪夹张开向爪夹左下方移动，靠近了黑色手提包。因此进度提升为20%。", + "state_description": "爪夹张开向爪夹左下方移动，靠近了黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹合拢抓取黑色手提包。", + "time": 8.432985540335052, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983386064_2787kr51m", + "x": 0.635375, + "y": 0.4891979166666667, + "width": 0.11200000000000002, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983389872_v8qn6p4ce", + "x": 0.9013750000000001, + "y": 0.4278645833333333, + "width": 0.09499999999999993, + "height": 0.23733333333333326 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹重新抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹合拢，未抓取到黑色手提包。", + "frame": 281, + "progress": 30, + "progress_explanation": "爪夹合拢，未抓取到黑色手提包。因此进度提升为30%。", + "state_description": "爪夹合拢，未抓取到黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹重新抓取黑色手提包。", + "time": 9.37137043621134, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983402207_fwrhunlm9", + "x": 0.646375, + "y": 0.4118645833333333, + "width": 0.088, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983415845_7pidhpdzt", + "x": 0.9023749999999999, + "y": 0.4318645833333334, + "width": 0.09400000000000013, + "height": 0.23866666666666667 + } + ] + } + } + }, + { + "time": 10.070167699097938, + "frame": 302, + "progress": 15, + "action_description": "爪夹垂直升高，并张开爪夹。", + "state_description": "爪夹垂直升高并张开爪夹，需重新靠近黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹垂直下移靠近黑色手提包。", + "progress_explanation": "爪夹垂直升高并张开爪夹，需重新靠近黑色手提包。因此进度降低为15%。", + "error_success_analysis": "爪夹垂直升高并张开爪夹，需重新靠近黑色手提包。", + "correction_plan": "爪夹垂直下移靠近黑色手提包后爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983425015_7yspc9rs2", + "x": 0.600375, + "y": 0.39853125000000006, + "width": 0.13099999999999995, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983429582_rnh1v45id", + "x": 0.900375, + "y": 0.43053125, + "width": 0.09600000000000009, + "height": 0.23466666666666683 + } + ] + } + } + }, + { + "action_description": "爪夹垂直下移。", + "correction_plan": "爪夹合拢抓取黑色手提包。抓紧黑色手提包垂直升高爪夹并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪机张开垂直下移，重新靠近了黑色手提包。", + "frame": 320, + "progress": 20, + "progress_explanation": "爪机张开垂直下移，重新靠近了黑色手提包。因此进度提升为20%。", + "state_description": "爪机张开垂直下移，重新靠近了黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹合拢抓取黑色手提包。", + "time": 10.671033, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983441279_s4g0klzy9", + "x": 0.5903750000000001, + "y": 0.4011979166666667, + "width": 0.13899999999999996, + "height": 0.19066666666666668 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983446687_83pw31b90", + "x": 0.9023749999999999, + "y": 0.4291979166666667, + "width": 0.09500000000000011, + "height": 0.24133333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹抓紧黑色手提包垂直升高并向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹合拢，成功抓取到黑色手提包。", + "frame": 353, + "progress": 40, + "progress_explanation": "爪夹合拢，成功抓取到黑色手提包。因此进度提升为40%。", + "state_description": "爪夹合拢，成功抓取到黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹抓紧黑色手提包垂直升高并向爪夹右边的铁架接近。", + "time": 11.766666666666667, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983455277_ac5wrrz4g", + "x": 0.5693750000000001, + "y": 0.4011979166666667, + "width": 0.15599999999999997, + "height": 0.176 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983459966_ihkhlcy2m", + "x": 0.9023749999999999, + "y": 0.42253124999999997, + "width": 0.09700000000000006, + "height": 0.24533333333333332 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高.", + "correction_plan": "爪夹抓紧黑色手提包向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹夹紧黑色手提包垂直升高，准备向铁架接近。", + "frame": 394, + "progress": 45, + "progress_explanation": "爪夹夹紧黑色手提包垂直升高，准备向铁架接近。因此进度提升为45%。", + "state_description": "爪夹夹紧黑色手提包垂直升高，准备向铁架接近。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹抓紧黑色手提包向爪夹右边的铁架接近。", + "time": 13.1306, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983467910_fh70ts2ko", + "x": 0.7113750000000001, + "y": 0.42119791666666667, + "width": 0.22000000000000003, + "height": 0.18266666666666667 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983472759_3epxx0oro", + "x": 0.921375, + "y": 0.4291979166666667, + "width": 0.075, + "height": 0.1946666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右边移动。", + "correction_plan": "爪夹抓紧黑色手提包向爪夹左边移动，推动纸箱，腾出放置黑色手提包位置。爪夹抓紧黑色手提包向爪夹右边的铁架接近，水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹夹紧黑色手提包向爪夹右边移动，准备放置黑色手提包。", + "frame": 418, + "progress": 50, + "progress_explanation": "爪夹夹紧黑色手提包向爪夹右边移动，准备放置黑色手提包。因此进度提升为50%。", + "state_description": "爪夹夹紧黑色手提包向爪夹右边移动，准备放置黑色手提包。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹抓紧黑色手提包向爪夹左边移动，推动纸箱，腾出放置黑色手提包位置。", + "time": 13.944, + "annotations": { + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983494758_alwskniep", + "x": 0.8963750000000001, + "y": 0.43586458333333333, + "width": 0.09899999999999984, + "height": 0.2333333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹左边移动。", + "correction_plan": "爪夹抓紧黑色手提包向爪夹右前方移动，靠近铁架。水平到达铁架的正上方后松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹夹紧黑色手提包向爪夹左边移动，推动纸箱，腾出放置黑色手提包位置。", + "frame": 458, + "progress": 55, + "progress_explanation": "爪夹夹紧黑色手提包向爪夹左边移动，推动纸箱，腾出放置黑色手提包位置。因此进度提升为55%。", + "state_description": "爪夹夹紧黑色手提包向爪夹左边移动，推动纸箱，腾出放置黑色手提包位置。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹抓紧黑色手提包向爪夹右前方移动，靠近铁架。", + "time": 15.281198716623711, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983502597_odwxzbcwa", + "x": 0.744375, + "y": 0.41053125, + "width": 0.137, + "height": 0.2013333333333333 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983507782_o50qsi4re", + "x": 0.735375, + "y": 0.40519791666666666, + "width": 0.2620000000000001, + "height": 0.26533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动。", + "correction_plan": "松开爪夹，使黑色手提包落在铁架上。最后爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹夹紧黑色手提包向爪夹右前方移动，靠近了铁架。", + "frame": 510, + "progress": 60, + "progress_explanation": "爪夹夹紧黑色手提包向爪夹右前方移动，靠近了铁架。因此进度提升为60%。", + "state_description": "爪夹夹紧黑色手提包向爪夹右前方移动，靠近了铁架。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：松开爪夹，使黑色手提包落在铁架上。", + "time": 16.99824341971649, + "annotations": { + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983516597_3pz4bb15p", + "x": 0.722375, + "y": 0.40786458333333336, + "width": 0.277, + "height": 0.2626666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "爪夹垂直升高并向爪夹后方移动，远离铁架。", + "error_success_analysis": "爪夹松开，黑色手提包成功落在铁架上。", + "frame": 535, + "progress": 80, + "progress_explanation": "爪夹松开，黑色手提包成功落在铁架上。因此进度提升为80%。", + "state_description": "爪夹松开，黑色手提包成功落在铁架上。\n为完成把黄色纸盒里的黑色手提包放到铁架子上的任务应当：爪夹垂直升高并向爪夹后方移动，远离铁架。", + "time": 17.817333, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983524693_bikacrt22", + "x": 0.727375, + "y": 0.41053125, + "width": 0.10199999999999995, + "height": 0.17999999999999997 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983530149_kjpksd425", + "x": 0.7193750000000001, + "y": 0.4011979166666667, + "width": 0.278, + "height": 0.2693333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高并向爪夹后方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹张开垂直升高并向爪夹后方移动，远离了铁架。任务完成。", + "frame": 580, + "progress": 100, + "progress_explanation": "爪夹张开垂直升高并向爪夹后方移动，远离了铁架。任务完成，因此进度提升为100%。", + "state_description": "爪夹张开垂直升高并向爪夹后方移动，远离了铁架。\n把黄色纸盒里的黑色手提包放到铁架子上的任务完成。", + "time": 19.333333333333332, + "annotations": { + "bbox_1771925136684": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925136684_1771983538957_ll256l5cy", + "x": 0.726375, + "y": 0.40786458333333336, + "width": 0.09299999999999997, + "height": 0.19066666666666668 + } + ] + }, + "bbox_1771925145590": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925145590_1771983545052_9eamb6lhd", + "x": 0.7193750000000001, + "y": 0.4011979166666667, + "width": 0.27999999999999997, + "height": 0.2693333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1771925136684", + "name": "黑色手提包" + }, + { + "color": "#FF9800", + "id": "bbox_1771925145590", + "name": "铁架" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1771925150238", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1771925155332", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-095202-take-cucumber-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-095202-take-cucumber-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..9872d55df938588abd6ffc76ce0a58a308e258fe --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-095202-take-cucumber-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,569 @@ +{ + "task_description": "把黄瓜从电饭锅内胆里拿出来放进蓝盒子里：\n开始准备移动：0%\n爪夹靠近黄瓜：20%\n爪夹抓取黄瓜：40%\n爪夹抓紧黄瓜接近蓝盒子：60%\n爪夹抓取黄瓜到达蓝盒子正上方：80%\n爪夹松开黄瓜落入蓝盒子：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。\n", + "annotations": { + "bbox_1770803659661": { + "instances": [ + { + "height": 0.2358674463937622, + "id": "bbox_1770803659661_1770859702242_t93woaqyw", + "width": 0.05555555555555554, + "x": 0.7982456140350876, + "y": 0.34619883487099096 + }, + { + "height": 0.29434697855750486, + "id": "bbox_1770803659661_1770859711786_7g4d5mw9i", + "width": 0.39035087719298245, + "x": 0.12573099415204678, + "y": 0.0011695876688520347 + } + ], + "type": "bbox" + }, + "point_1770803665221": { + "instances": [ + { + "id": "point_1770803665221_1770859724666_cbq9lmp2s", + "x": 0.5102339181286549, + "y": 0.6678362617715757 + } + ], + "type": "point" + }, + "point_1770803672365": { + "instances": [ + { + "id": "point_1770803672365_1770859728354_8jz1e1qgi", + "x": 0.618421052631579, + "y": 0.6346978602121215 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹左前方的蓝盒子接近，水平到达蓝盒子的正上方后，松开爪夹，使黄瓜落入蓝盒子。\n", + "error_success_analysis": "", + "frame": 23, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动，因此进度提升为0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离黄瓜，未开始移动。\n为完成把黄瓜从电饭锅内胆里拿出来放进蓝盒子里的任务应当：爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。\n", + "time": 0.7663099036697247 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1770803653854": { + "instances": [ + { + "height": 0.23391812865497072, + "id": "bbox_1770803653854_1770862540137_uc1wmlfzd", + "width": 0.05555555555555562, + "x": 0.7953216374269005, + "y": 0.35165692305239554 + } + ], + "type": "bbox" + }, + "bbox_1770803659661": { + "instances": [ + { + "height": 0.30214424951267055, + "id": "bbox_1770803659661_1770862548161_laa1b209p", + "width": 0.39181286549707606, + "x": 0.12573099415204678, + "y": 0.0007797151978252924 + } + ], + "type": "bbox" + }, + "point_1770803665221": { + "instances": [ + { + "id": "point_1770803665221_1770862532752_buzh9t7qa", + "x": 0.6257309941520467, + "y": 0.5992202758789062 + } + ], + "type": "point" + }, + "point_1770803672365": { + "instances": [ + { + "id": "point_1770803672365_1770862529058_5c8l9vn7m", + "x": 0.7587719298245614, + "y": 0.6089668645728633 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹右方的黄瓜移动，同时调整爪夹的角度使其垂直与桌面，并移动到黄瓜的正上方。接着落下爪夹靠近黄瓜，接近黄瓜后爪夹合拢抓取黄瓜。抓紧黄瓜垂直升高爪夹并向爪夹左前方的蓝盒子接近，水平到达蓝盒子的正上方后，松开爪夹，使黄瓜落入蓝盒子。", + "error_success_analysis": "爪夹张开，还未接近黄瓜。", + "frame": 42, + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-110628-take-tomatoes-out-of-rice-cooker-and-put-it-in-blue-box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..5aa83fcce43af7401bb7256ab938018b62674afc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-110628-take-tomatoes-out-of-rice-cooker-and-put-it-in-blue-box-mix2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,512 @@ +{ + "task_description": "把西红柿从电饭煲内胆里拿出来，放进蓝盒子里：\n开始准备移动：0%\n爪夹靠近西红柿：20%\n爪夹抓取西红柿：40%\n爪夹抓紧西红柿接近蓝盒子：60%\n爪夹将西红柿放入蓝盒子：80%\n爪夹松开西红柿落入蓝盒子：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770803653854": { + "instances": [ + { + "height": 0.11111111111111113, + "id": 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+ "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离西红柿，未开始移动，因此进度提升为0%。\n", + "state_description": "当前为初始状态，爪夹张开，远离西红柿，未开始移动。\n为完成把西红柿从电饭煲内胆里拿出来，放进蓝盒子里的任务应当：爪夹向爪夹前方的西红柿移动，同时调整爪夹的角度使其垂直与桌面，并移动到西红柿的正上方。", + "time": 1.0211900102281604 + }, + { + "action_description": "爪夹向上抬升。", + "annotations": { + "bbox_1770803653854": { + "instances": [ + { + "height": 0.1111111111111111, + "id": "bbox_1770803653854_1770866754998_ihs948rja", + "width": 0.08479532163742691, + "x": 0.5701754385964912, + "y": 0.18986355073270741 + } + ], + "type": "bbox" + }, + "bbox_1770803659661": { + "instances": [ + { + "height": 0.4444444444444444, + "id": "bbox_1770803659661_1770866747238_26rlrqx9y", + "width": 0.3026315789473684, + "x": 0.1871345029239766, + "y": 0.5115009776332922 + } + ], + "type": "bbox" + }, + "point_1770803665221": { + "instances": [ + { + "id": "point_1770803665221_1770866764102_s7upmt7x8", + "x": 0.6067251461988303, + "y": 0.3185185214929413 + } + ], + "type": "point" + } + }, + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-133355-take-bitter-gourd-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-133355-take-bitter-gourd-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..a80ff7f9cf15cf496def7fcf1c8e5416a3be0fa8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-133355-take-bitter-gourd-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000009.json @@ -0,0 +1,838 @@ +{ + "task_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-164400-take-maize-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..86ab0f83b0c30a255b998363f9ce0f49268d3809 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-guoyijia/20260128-164400-take-maize-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.right/episode_000009.json @@ -0,0 +1,600 @@ +{ + "task_description": "把玉米从电饭煲内胆里拿出来，放进蓝盒子里：\n开始准备移动：0%\n爪夹靠近玉米：20%\n爪夹抓取玉米：40%\n爪夹抓紧玉米接近蓝盒子：60%\n爪夹抓取玉米到达蓝盒子正上方：80%\n爪夹松开玉米落入蓝盒子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770803653854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770803653854_1770960312139_r234ifxoz", + "x": 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"接着落下爪夹靠近玉米，接近玉米后爪夹合拢抓取玉米。抓紧玉米垂直升高爪夹并向爪夹左方的蓝盒子接近，水平到达蓝盒子的正上方后，向下移动将玉米放入蓝盒子，松开爪夹，使玉米落入蓝盒子。", + "error_success_analysis": "爪夹合拢并向上移动，因角度问题未抓住了玉米。远离了玉米，", + "frame": 366, + "progress": 15, + "progress_explanation": "爪夹合拢并向上移动，未抓住了玉米。远离了玉米，因此进度倒退为15%。\n", + "state_description": "爪夹合拢并向上移动，远离了玉米。\n为完成把玉米从电饭煲内胆里拿出来，放进蓝盒子里：接近玉米后爪夹合拢抓取玉米。抓紧玉米垂直升高爪夹并向爪夹左方的蓝盒子接近。", + "time": 12.210369636211341, + "annotations": { + "bbox_1770803653854": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770803653854_1770960451819_evgpx6z70", + "x": 0.386375, + "y": 0.5938645833333334, + "width": 0.15000000000000005, + "height": 0.23733333333333337 + } + ] + }, + "bbox_1770803659661": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770803659661_1770960516963_gzb6qwcvc", + "x": 0.000375, + "y": 0.36053125, + "width": 0.354, + "height": 0.5586666666666668 + } + ] + } + } + }, + { + "action_description": "爪夹张开，爪夹向前移动并垂直向下移动。", + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-094656-take-thermal grease-yellow box-mix/annotations/chunk-000/observation.images.front/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-094656-take-thermal grease-yellow box-mix/annotations/chunk-000/observation.images.front/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f292f137199d01f142e11dc04c3c5915dd24cfbf --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-094656-take-thermal grease-yellow box-mix/annotations/chunk-000/observation.images.front/episode_000004.json @@ -0,0 +1,610 @@ +{ + "task_description": "抓取碗里的药瓶放进黄色箱子里：\n开始准备移动：0%\n爪夹靠近碗：20%\n爪夹抓取药瓶：40%\n爪夹抓紧药瓶接近黄色箱子：60%\n爪夹抓紧药瓶移动到黄色箱子上方：80%\n爪夹松开药瓶落入黄色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹正前方的碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到碗的正上方。接着落下爪夹靠近药瓶，接近药瓶后爪夹合拢抓取药瓶。抓紧药瓶垂直升高爪夹并向爪夹右前方的黄色箱子接近，水平到达黄色箱子的正上方后松开爪夹，使药瓶落入黄色箱子。", + "error_success_analysis": "无", + "frame": 37, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离药瓶，未开始移动。\n为完成抓取碗里的药瓶放进黄色箱子里的任务应当：爪夹向爪夹正前方的碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到碗的正上方。", + "time": 1.2378565516752575, + "annotations": { + "bbox_1770976725663": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770976725663_1771894721626_r287mxhsl", + "x": 0.479375, + "y": 0.4928645833333334, + "width": 0.04899999999999993, + "height": 0.06266666666666658 + } + ] + }, + "bbox_1770976733311": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770976733311_1771894741920_fknnevane", + "x": 0.062375, + "y": 0.47419791666666666, + "width": 0.302, + "height": 0.46 + } + ] + }, + "point_1770976744822": { + "type": "point", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-104419-take-bottle-yellow box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..18b6e86cb7bcb5fd0d385ba141d526dc1bfb6f3e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-104419-take-bottle-yellow box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,638 @@ +{ + "task_description": "抓取碗里的瓶子放进黄色箱子里：\n开始准备移动：0%\n爪夹靠近碗：20%\n爪夹抓取瓶子：40%\n爪夹抓紧瓶子接近黄色箱子：60%\n爪夹抓紧瓶子移动到黄色箱子上方：80%\n爪夹松开瓶子落入黄色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1771900613857": { + "instances": [ + { + "height": 0.15199999999999997, + "id": "bbox_1771900613857_1771900660223_8a1acxexb", + "width": 0.15, + "x": 0.480375, + "y": 0.37319791666666663 + 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file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-150131-pill bottle-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-150131-pill bottle-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..8d3270e2e49328ec5320e18ab6dc477145a78b57 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-150131-pill bottle-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000009.json @@ -0,0 +1,580 @@ +{ + "task_description": 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diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-163037-black marker-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-163037-black marker-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..06980f55597e2d04da33bb0cc014c84f5027fb3f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-lilingchu/20260128-163037-black marker-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000007.json @@ -0,0 +1,538 @@ +{ + "task_description": 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"抓取不锈钢碗里的废纸放进黄色箱子里：\n爪夹靠近不锈钢碗：20%\n爪夹抓取废纸：40%\n爪夹抓紧废纸接近黄色箱子：60%\n爪夹抓紧废纸移动到黄色箱子上方：80%\n爪夹松开废纸落入黄色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹左前方的不锈钢碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到不锈钢碗的正上方。接着落下爪夹靠近废纸，接近废纸后爪夹合拢抓取废纸。抓紧废纸垂直升高爪夹并向爪夹右方的黄色箱子接近，水平到达黄色箱子的正上方后松开爪夹，使废纸落入黄色箱子。", + "error_success_analysis": "无", + "frame": 29, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离废纸，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离废纸，未开始移动。\n为完成抓取不锈钢碗里的废纸放进黄色箱子里的任务应当：爪夹向爪夹左前方的不锈钢碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到不锈钢碗的正上方。", + "time": 0.9686640730670104, + "annotations": { + "bbox_1771925653188": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925653188_1771925692299_pwczm74pf", + "x": 0.23766661147054374, + "y": 0.30924069749017763, + "width": 0.0759999953613284, + "height": 0.05066666254340309 + } + ] + }, + "bbox_1771925662221": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771925662221_1771925696491_i19c7fx6e", + "x": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-171139-put-black-bowl-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-171139-put-black-bowl-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..4529b3f18980d119594bd997f4a9e7c662df18c8 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-171139-put-black-bowl-blue-box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,630 @@ +{ + "task_description": "把黑色碗从右边蓝色储物盒移到左边蓝色储物盒里。\n准备开始移动：0%\n爪夹靠近黑色碗：20%\n爪夹抓取黑色碗：40%\n爪夹抓紧黑色碗接近左边储物盒：60%\n爪夹松开，黑色碗掉入左边储物盒里：80%\n爪夹远离左边储物盒：100%", + "progress_points": [ + { + "time": 1.305199, 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] + } + } + }, + { + "action_description": "爪夹向爪夹后上方移动。", + "correction_plan": "", + "error_success_analysis": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。\n任务完成。", + "frame": 500, + "progress": 100, + "progress_explanation": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。\n任务完成。因此进度提升为100%。", + "state_description": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。\n把黑色碗从右边蓝色储物盒移到左边蓝色储物盒里的任务完成。", + "time": 16.670798636984536, + "annotations": { + "bbox_1770858394885": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770858394885_1770861716939_c7px35vo4", + "x": 0.347375, + "y": 0.29953124999999997, + "width": 0.13200000000000003, + "height": 0.1706666666666667 + } + ] + }, + "bbox_1770858401877": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770858401877_1770861729075_ak9621czi", + "x": 0.23737499999999997, + "y": 0.004864583333333331, + "width": 0.572, + "height": 0.7239999999999999 + } + ] + }, + "point_1770858415886": { + "type": "point", + "instances": [ + { + "id": "point_1770858415886_1770861758971_a5patnm0s", + "x": 0.39637500000000003, + "y": 0.5141979166666667 + } + ] + }, + "point_1770858421572": { + "type": "point", + "instances": [ + { + "id": "point_1770858421572_1770861762883_axtfps064", + "x": 0.620375, + "y": 0.51953125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770858394885", + "name": "黑色碗", + "color": "#4CAF50" + }, + { + "id": "bbox_1770858401877", + "name": "左边储物盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770858415886", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770858421572", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-175307-put-silver-teacup-blue-box-mix/annotations/chunk-000/observation.images.head/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-175307-put-silver-teacup-blue-box-mix/annotations/chunk-000/observation.images.head/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..4a2d910e70fabdd91c80d2cf3503259b0cc80d6b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-175307-put-silver-teacup-blue-box-mix/annotations/chunk-000/observation.images.head/episode_000009.json @@ -0,0 +1,558 @@ +{ + "task_description": "把银色茶杯放回蓝色储物盒里\n准备开始移动：0%\n爪夹靠近银色茶杯：20%\n爪夹抓取银色茶杯：40%\n爪夹抓紧银色茶杯接近储物盒：60%\n爪夹松开，银色茶杯落入储物盒：80%\n爪夹远离储物盒：100%\n", + "progress_points": [ + { + "time": 1.4103307805412373, + "frame": 42, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离银色茶杯，未开始移动。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹向爪夹右前方的银色茶杯移动，同时调整爪夹的角度，靠近银色茶杯。", + "progress_explanation": "当前为初始状态，远离银色茶杯，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右前方的银色茶杯移动，同时调整爪夹的角度，靠近银色茶杯后爪夹合拢抓取银色茶杯。抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770801993927_w2qwz5aox", + "x": 0.40437500000000004, + "y": 0.10119791666666668, + "width": 0.07199999999999998, + "height": 0.10666666666666667 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802002231_w9ku2jzwj", + "x": 0.104375, + "y": 0.31719791666666663, + "width": 0.362, + "height": 0.5760000000000001 + } + ] + } + } + }, + { + "time": 2.298682341291919, + "frame": 69, + "progress": 10, + "action_description": "爪夹调整角度。", + "state_description": "爪夹调整角度，准备向银色茶杯靠近。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹向爪夹右前方的银色茶杯移动，同时调整爪夹的角度，靠近银色茶杯。", + "progress_explanation": "爪夹调整角度，准备向银色茶杯靠近。方便抓取银色茶杯。因此进度提升为10%。", + "error_success_analysis": "爪夹调整角度，准备向银色茶杯靠近。方便抓取银色茶杯。", + "correction_plan": "爪夹向爪夹右前方的银色茶杯移动，同时调整爪夹的角度，靠近银色茶杯后爪夹合拢抓取银色茶杯。抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802022718_cozaiey3s", + "x": 0.402375, + "y": 0.10119791666666668, + "width": 0.07400000000000002, + "height": 0.10800000000000001 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802032494_vnba8tpcf", + "x": 0.011374999999999996, + "y": 0.34519791666666666, + "width": 0.45299999999999996, + "height": 0.5413333333333334 + } + ] + } + } + }, + { + "time": 3.4447304711888265, + "frame": 103, + "progress": 20, + "action_description": "爪夹向爪夹右前方移动。", + "state_description": "爪夹张开向爪夹右前方移动，靠近了银色茶杯。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹合拢抓取银色茶杯。", + "progress_explanation": "爪夹张开向爪夹右前方移动，靠近了银色茶杯。因此进度提升为20%.", + 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"爪夹抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802071974_u9u04vayp", + "x": 0.43937499999999996, + "y": 0.06519791666666667, + "width": 0.04800000000000004, + "height": 0.06266666666666668 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802081869_qarafa7ge", + "x": 0.016375, + "y": 0.31319791666666663, + "width": 0.453, + "height": 0.5773333333333334 + } + ] + } + } + }, + { + "time": 5.974763849613402, + "frame": 179, + "progress": 50, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧银色杯子垂直升高，准备接近储物盒。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹抓紧银色茶杯向爪夹左下方的蓝色储物盒接近。", + "progress_explanation": "爪夹夹紧银色杯子垂直升高，准备接近储物盒。因此进度提升为50%.", + "error_success_analysis": "爪夹夹紧银色杯子垂直升高，准备接近储物盒。", + "correction_plan": "爪夹抓紧银色茶杯向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802100693_qfa530zob", + "x": 0.010375, + "y": 0.31053125000000004, + "width": 0.454, + "height": 0.5800000000000002 + } + ] + } + } + }, + { + "time": 7.398333, + "frame": 222, + "progress": 20, + "action_description": "爪夹向爪夹左后方移动，同时爪夹松开。", + "state_description": "爪夹夹紧银色杯子向爪夹左后方移动，中途爪夹松开，银色杯子脱落，需要重新抓取。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹重新抓取银色杯子。", + "progress_explanation": "爪夹夹紧银色杯子向爪夹左后方移动，中途爪夹松开，银色杯子脱落，需要重新抓取。因此进度下降为20%。", + "error_success_analysis": "爪夹夹紧银色杯子向爪夹左后方移动，中途爪夹松开，银色杯子脱落，需要重新抓取。", + "correction_plan": "爪夹重新抓取银色杯子，然后爪夹抓紧银色茶杯向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802123172_9q8w0oede", + "x": 0.024374999999999994, + "y": 0.3131979166666667, + "width": 0.43499999999999994, + "height": 0.5773333333333334 + } + ] + } + } + }, + { + "time": 8.405176263015464, + "frame": 252, + "progress": 10, + "action_description": "爪夹向爪夹后方移动。", + "state_description": "爪夹张开向爪夹后方移动，远离了银色杯子。需要重新靠近银色杯子。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹向爪夹右前方的银色茶杯移动，靠近银色茶杯。", + "progress_explanation": "爪夹张开向爪夹后方移动，远离了银色杯子。需要重新靠近银色杯子。因此进度降低为10%。", + "error_success_analysis": "爪夹张开向爪夹后方移动，远离了银色杯子。需要重新靠近银色杯子。", + "correction_plan": "爪夹向爪夹右前方的银色茶杯移动，靠近银色茶杯后爪夹合拢抓取银色茶杯。抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802142276_o1yl2u9v6", + "x": 0.40437499999999993, + "y": 0.10119791666666668, + "width": 0.07200000000000006, + "height": 0.10666666666666667 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802152940_86341fsw7", + "x": 0.036375000000000005, + "y": 0.31186458333333333, + "width": 0.4330000000000001, + "height": 0.5720000000000002 + } + ] + } + } + }, + { + "time": 9.755833, + "frame": 293, + "progress": 15, + "action_description": "爪夹向爪夹前方移动。", + "state_description": "爪夹张开向爪夹前方移动，开始重新向银色杯子靠近。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹向爪夹右前方的银色茶杯移动，+靠近银色茶杯。", + "progress_explanation": "爪夹张开向爪夹前方移动，开始重新向银色杯子靠近。因此进度提升为15%。", + "error_success_analysis": "爪夹张开向爪夹前方移动，开始重新向银色杯子靠近。", + "correction_plan": "爪夹向爪夹右前方的银色茶杯移动，靠近银色茶杯后爪夹合拢抓取银色茶杯。抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802171276_2179aq89i", + "x": 0.401375, + "y": 0.09986458333333334, + "width": 0.07300000000000004, + "height": 0.10533333333333333 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802181556_94pkrw6h9", + "x": 0.075375, + "y": 0.3011979166666667, + "width": 0.394, + "height": 0.5866666666666666 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右前方移动，同时向上移动。", + "correction_plan": "爪夹合拢抓取银色茶杯。抓紧银色茶杯垂直升高爪夹并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "error_success_analysis": "爪夹张开向爪夹右前方移动，同时向上移动。靠近了银色杯子。", + "frame": 326, + "progress": 20, + "progress_explanation": "爪夹张开向爪夹右前方移动，同时向上移动。靠近了银色杯子。因此进度提升为20%。", + "state_description": "爪夹张开向爪夹右前方移动，同时向上移动。靠近了银色杯子。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹合拢抓取银色杯子。", + "time": 10.874283865003258, + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802194683_tglj6i6rg", + "x": 0.42437500000000006, + "y": 0.10119791666666668, + "width": 0.04500000000000002, + "height": 0.10133333333333333 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802205763_5va1qkhh3", + "x": 0.004374999999999995, + "y": 0.2971979166666667, + "width": 0.45999999999999996, + "height": 0.5933333333333333 + } + ] + } + } + }, + { + "time": 11.979166, + "frame": 359, + "progress": 40, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，抓取到银色杯子。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹抓紧银色茶杯垂直升高并向爪夹左下方的蓝色储物盒接近。", + "progress_explanation": "爪夹合拢，抓取到银色杯子。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢，抓取到银色杯子。", + "correction_plan": "爪夹抓紧银色茶杯垂直升高并向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802216322_j6bf7u1lq", + "x": 0.437375, + "y": 0.10919791666666666, + "width": 0.03799999999999999, + "height": 0.04933333333333333 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802222427_988vormqi", + "x": 0.001375000000000004, + "y": 0.2958645833333334, + "width": 0.46299999999999997, + "height": 0.5986666666666667 + } + ] + } + } + }, + { + "time": 13.048647134149485, + "frame": 391, + "progress": 50, + "action_description": "爪夹垂直升高。", + "state_description": "爪夹夹紧银色杯子垂直升高，准备向储物和接近。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹抓紧银色茶杯向爪夹左下方的蓝色储物盒接近。", + "progress_explanation": "爪夹夹紧银色杯子垂直升高，准备向储物和接近。因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧银色杯子垂直升高，准备向储物和接近。", + "correction_plan": "爪夹抓紧银色茶杯向爪夹左下方的蓝色储物盒接近，水平到达蓝色储物盒的正上方后垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802232762_1o8n3czdq", + "x": 0.410375, + "y": 0.05186458333333333, + "width": 0.04500000000000002, + "height": 0.06533333333333334 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802237771_scn3i1g03", + "x": 0.0013749999999999984, + "y": 0.2971979166666667, + "width": 0.465, + "height": 0.5973333333333333 + } + ] + } + } + }, + { + "time": 14.313251967139175, + "frame": 429, + "progress": 60, + "action_description": "爪夹向爪夹左下方移动。", + "state_description": "爪夹夹紧银色杯子向爪夹左下方移动，到达储物盒正上方。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹垂直向下移动，接近储物盒底部。", + "progress_explanation": "爪夹夹紧银色杯子向爪夹左下方移动，接近了储物盒。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧银色杯子向爪夹左下方移动，接近了储物盒。", + "correction_plan": "爪夹垂直向下移动，接近储物盒底部，然后松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802250491_2m2mdkbgq", + "x": 0.0043749999999999995, + "y": 0.2958645833333334, + "width": 0.465, + "height": 0.5893333333333334 + } + ] + } + } + }, + { + "time": 15.43954064652062, + "frame": 463, + "progress": 70, + "action_description": "爪夹垂直向下移动，同时调整角度。", + "state_description": "爪夹夹紧银色杯子垂直向下移动，接近了储物盒底部。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹松开使银色茶杯落入蓝色储物盒。", + "progress_explanation": "爪夹夹紧银色杯子垂直向下移动，接近了储物盒底部。因此进度提升为70%。", + "error_success_analysis": "爪夹夹紧银色杯子垂直向下移动，接近了储物盒底部。", + "correction_plan": "松开爪夹使银色茶杯落入蓝色储物盒。调整爪夹，远离蓝色储物盒。", + "annotations": { + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802275657_oijmdo3ti", + "x": 0.0033750000000000004, + "y": 0.2918645833333333, + "width": 0.4640000000000001, + "height": 0.5933333333333334 + } + ] + } + } + }, + { + "action_description": "爪夹松开。", + "correction_plan": "调整爪夹，远离蓝色储物盒。", + "error_success_analysis": "爪夹松开，银色杯子落入储物盒。", + "frame": 498, + "progress": 80, + "progress_explanation": "爪夹松开，银色杯子落入储物盒。因此进度提升为80%。", + "state_description": "爪夹松开，银色杯子落入储物盒。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：调整爪夹，远离蓝色储物盒。", + "time": 16.585588776417524, + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802289985_wi49gkr59", + "x": 0.27937500000000004, + "y": 0.6291979166666667, + "width": 0.050999999999999976, + "height": 0.05333333333333338 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802295689_avrovpr6c", + "x": -0.0006249999999999977, + "y": 0.29053125, + "width": 0.4660000000000001, + "height": 0.604 + } + ] + } + } + }, + { + "time": 17.651775391807384, + "frame": 530, + "progress": 90, + "action_description": "爪夹向右旋转。", + "state_description": "爪夹张开向右旋转，准备远离储物盒。\n为完成把银色茶杯放回蓝色储物盒里的任务应当：爪夹向爪夹后上方移动，远离蓝色储物盒。", + "progress_explanation": "爪夹张开向右旋转，准备远离储物盒。因此进度提升为90%。", + "error_success_analysis": "爪夹张开向右旋转，准备远离储物盒。", + "correction_plan": "爪夹向爪夹后上方移动，远离蓝色储物盒。", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802306912_qj2t72dah", + "x": 0.27737500000000004, + "y": 0.6145312500000001, + "width": 0.05, + "height": 0.06666666666666667 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802313106_df97eg0a6", + "x": 0.0033749999999999974, + "y": 0.29853125, + "width": 0.4630000000000001, + "height": 0.5946666666666667 + } + ] + } + } + }, + { + "time": 19.1475, + "frame": 574, + "progress": 100, + "action_description": "爪夹向爪夹后上方移动。", + "state_description": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。\n把银色茶杯放回蓝色储物盒里的任务完成。", + "progress_explanation": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。把银色茶杯放回蓝色储物盒里的任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹张开向爪夹后上方移动，远离了蓝色储物盒。\n把银色茶杯放回蓝色储物盒里的任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1770797574867": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797574867_1770802323799_8zi806yh3", + "x": 0.276375, + "y": 0.6238645833333333, + "width": 0.05, + "height": 0.05866666666666672 + } + ] + }, + "bbox_1770797581620": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770797581620_1770802330103_yah45hux9", + "x": 0.004375000000000001, + "y": 0.2958645833333334, + "width": 0.45999999999999996, + "height": 0.5946666666666666 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770797574867", + "name": "银色茶杯", + "color": "#4CAF50" + }, + { + "id": "bbox_1770797581620", + "name": "蓝色储物盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770797590587", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770797598987", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-182707-put-red-peppers-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-182707-put-red-peppers-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..f4c00b8834f864d16a097c459057fef81b70342c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260128-songjiaqi/20260128-182707-put-red-peppers-blue-storage box-mix/annotations/chunk-000/observation.images.bird/episode_000004.json @@ -0,0 +1,416 @@ +{ + "task_description": "把红辣椒放进蓝色储物盒里\n爪夹抓紧红辣椒开始移动：0%\n爪夹抓紧红辣椒接近储物盒：40%\n爪夹松开，红辣椒落入储物盒：80%\n爪夹远离储物盒：100%", + "progress_points": [ + { + "time": 1.52262281542522, + "frame": 46, + "progress": 0, + "action_description": "爪夹抓紧红辣椒，未开始移动。", + "state_description": "当前为初始状态，爪夹抓紧红辣椒，未开始移动。\n为完成把红辣椒放进蓝色储物盒里的任务应当：爪夹抓紧红辣椒向爪夹左后方的蓝色储物盒移动。", + "progress_explanation": "当前为初始状态，爪夹抓紧红辣椒，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹抓紧红辣椒向爪夹左后方的蓝色储物盒移动，同时调整爪夹的角度使其垂直与地面，并移动到蓝色储物盒的正上方。爪夹松开，使红辣椒落入储物盒中。然后爪夹升高远离蓝色储物盒。", + "annotations": { + "bbox_1770796353228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796353228_1770796380452_dg4t5gccn", + "x": 0.13933331298828128, + "y": 0.28711110432942716, + "width": 0.53, + "height": 0.5573333333333333 + } + ] + } + } + }, + { + "time": 2.685766, + "frame": 81, + "progress": 20, + "action_description": "爪夹向爪夹左边移动。", + "state_description": "爪夹夹紧红辣椒向爪夹左边移动。\n为完成把红辣椒放进蓝色储物盒里的任务应当：爪夹抓紧红辣椒向爪夹左后方的蓝色储物盒移动。", + "progress_explanation": "爪夹夹紧红辣椒向爪夹左边移动。开始向蓝色储物盒接近。因此进度提升为20%。", + "error_success_analysis": "爪夹夹紧红辣椒向爪夹左边移动。开始向蓝色储物盒接近。", + "correction_plan": "爪夹抓紧红辣椒向爪夹左后方的蓝色储物盒移动，同时调整爪夹的角度使其垂直与地面，并移动到蓝色储物盒的正上方。爪夹松开，使红辣椒落入储物盒中。然后爪夹升高远离蓝色储物盒。", + "annotations": { + "bbox_1770796348796": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796348796_1770796392332_8l52ymwb9", + "x": 0.6473333129882812, + "y": -0.0008888956705729168, + "width": 0.07300000000000004, + "height": 0.14400000000000002 + } + ] + }, + "bbox_1770796353228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796353228_1770796399443_wd0yctv39", + "x": 0.13633331298828127, + "y": 0.2848888753255209, + "width": 0.475, + "height": 0.5559999999999999 + } + ] + }, + "point_1770796360397": { + "type": "point", + "instances": [ + { + "id": "point_1770796360397_1770796405331_jwi3wru8f", + "x": 0.6613333129882812, + "y": 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"instances": [ + { + "id": "bbox_1770796353228_1770796524713_4ja5lqa2y", + "x": 0.14033331298828125, + "y": 0.2888888753255208, + "width": 0.532, + "height": 0.5493333333333332 + } + ] + } + } + }, + { + "time": 12.419966, + "frame": 373, + "progress": 80, + "action_description": "爪夹松开。", + "state_description": "爪夹松开，红辣椒落入蓝色储物盒中。\n为完成把红辣椒放进蓝色储物盒里的任务应当：爪夹升高远离蓝色储物盒。", + "progress_explanation": "爪夹松开，红辣椒落入蓝色储物盒中。因此进度提升为80%。", + "error_success_analysis": "爪夹松开，红辣椒落入蓝色储物盒中。", + "correction_plan": "爪夹升高远离蓝色储物盒。", + "annotations": { + "bbox_1770796353228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796353228_1770796547473_htpiemby4", + "x": 0.13733331298828125, + "y": 0.29244443766276046, + "width": 0.528, + "height": 0.5466666666666666 + } + ] + }, + "point_1770796360397": { + "type": "point", + "instances": [ + { + "id": "point_1770796360397_1770796553755_tzcs17alm", + "x": 0.40033331298828123, + "y": 0.5462222086588542 + } + ] + } + } + }, + { + "time": 13.633333, + "frame": 409, + "progress": 100, + "action_description": "爪夹升高。", + "state_description": "爪夹张开并向上移动，远离了储物盒。\n把红辣椒放进蓝色储物盒里的任务完成。", + "progress_explanation": "爪夹张开并向上移动，远离了储物盒。\n把红辣椒放进蓝色储物盒里的任务完成。因此进度提升为100%。", + "error_success_analysis": "爪夹张开并向上移动，远离了储物盒。\n把红辣椒放进蓝色储物盒里的任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1770796348796": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796348796_1770796564144_ukfc85ala", + "x": 0.44533331298828127, + "y": 0.5182222086588542, + "width": 0.07599999999999998, + "height": 0.07733333333333334 + } + ] + }, + "bbox_1770796353228": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770796353228_1770796570104_zfrfgj9jr", + "x": 0.13533331298828127, + "y": 0.2888888753255208, + "width": 0.533, + "height": 0.5559999999999999 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770796348796", + "name": "红辣椒", + "color": "#4CAF50" + }, + { + "id": "bbox_1770796353228", + "name": "蓝色储物盒", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770796360397", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770796365324", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-102938-dish sponge-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-102938-dish sponge-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..40f3b761d139a47ff0adcfd732ec06923467667e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-102938-dish sponge-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.left/episode_000000.json @@ -0,0 +1,550 @@ +{ + "task_description": "把洗碗海绵放进黄色盒子里\n准备开始移动：0%\n爪夹靠近洗碗海绵：25%\n爪夹抓取洗碗海绵：50%\n爪夹抓紧洗碗海绵接近黄色盒子：75%\n爪夹松开：100%\n", + "progress_points": [ + { + "time": 1.8469, + "frame": 55, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离洗碗海绵，未开始移动。\n为完成把洗碗海绵放进黄色盒子里的任务应当：爪夹向爪夹左前方的洗碗海绵移动，同时调整爪夹的角度，并移动到洗碗海绵的正上方。", + "progress_explanation": "当前为初始状态，远离洗碗海绵，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的洗碗海绵移动，同时调整爪夹的角度，并移动到洗碗海绵的正上方。接着落下爪夹靠近洗碗海绵，接近洗碗海绵后爪夹合拢抓取洗碗海绵。抓紧洗碗海绵垂直升高爪夹并向爪夹右后方的黄色盒子接近，水平到达黄色盒子的正上方后松开爪夹，使洗碗海绵落入黄色盒子。", + "annotations": { + "bbox_1770865582871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865582871_1770865614782_cpuyxoaoe", + "x": 0.205375, + "y": 0.07019791666666667, + "width": 0.162, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1770865589462": { + "type": "bbox", + "instances": [ + { + 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"爪夹向爪夹左前方的洗碗海绵移动，同时调整爪夹的角度，并移动到洗碗海绵的正上方。接着落下爪夹靠近洗碗海绵，接近洗碗海绵后爪夹合拢抓取洗碗海绵。抓紧洗碗海绵垂直升高爪夹并向爪夹右后方的黄色盒子接近，水平到达黄色盒子的正上方后松开爪夹，使洗碗海绵落入黄色盒子。", + "annotations": { + "bbox_1770865582871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865582871_1770865642173_0ouu8g4ws", + "x": 0.20837500000000003, + "y": 0.06886458333333335, + "width": 0.15800000000000003, + "height": 0.1733333333333333 + } + ] + }, + "bbox_1770865589462": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865589462_1770865653470_d83s03czl", + "x": 0.47437500000000005, + "y": 0.0021979166666666696, + "width": 0.38100000000000006, + "height": 0.34666666666666673 + } + ] + }, + "point_1770865595495": { + "type": "point", + "instances": [ + { + "id": "point_1770865595495_1770865663414_bigou74hh", + "x": 0.5823750000000001, + "y": 0.07419791666666667 + } + ] + } + } + }, + { + "time": 6.13916237113402, + "frame": 184, + "progress": 15, + "action_description": "爪夹向爪夹右前方移动，同时向上移动。", + "state_description": 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"爪夹合拢。", + "correction_plan": "爪夹抓紧洗碗海绵垂直升高并向爪夹右后方的黄色盒子接近，水平到达黄色盒子的正上方后松开爪夹，使洗碗海绵落入黄色盒子。", + "error_success_analysis": "爪夹合拢，成功抓取到洗碗海绵。", + "frame": 329, + "progress": 50, + "progress_explanation": "爪夹合拢，成功抓取到洗碗海绵。因此进度提升为50%。", + "state_description": "爪夹合拢，成功抓取到洗碗海绵。\n为完成把洗碗海绵放进黄色盒子里的任务应当：爪夹抓紧洗碗海绵垂直升高并向爪夹右后方的黄色盒子接近。", + "time": 10.964420103092785, + "annotations": { + "bbox_1770865582871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865582871_1770865723332_2ira0spva", + "x": 0.228375, + "y": 0.046197916666666665, + "width": 0.15100000000000002, + "height": 0.19466666666666668 + } + ] + }, + "bbox_1770865589462": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865589462_1770865732348_iywztbp6i", + "x": 0.491375, + "y": 0.0048645833333333275, + "width": 0.3539999999999999, + "height": 0.34666666666666673 + } + ] + }, + "point_1770865595495": { + "type": "point", + "instances": [ + { + "id": "point_1770865595495_1770865774046_5g5t58s09", + "x": 0.317375, + "y": 0.12753125 + } + ] + } + } + }, + { + "action_description": "爪夹垂直升高。", + "correction_plan": "爪夹重新靠近并抓取洗碗海绵。爪夹抓紧洗碗海绵垂直升高并向爪夹右后方的黄色盒子接近，水平到达黄色盒子的正上方后松开爪夹，使洗碗海绵落入黄色盒子。", + "error_success_analysis": "爪夹夹紧洗碗海绵垂直升高，中途爪夹突然松开，洗碗海绵掉落，需要重新靠近并抓取。", + "frame": 383, + "progress": 15, + "progress_explanation": "爪夹夹紧洗碗海绵垂直升高，中途爪夹突然松开，洗碗海绵掉落，需要重新靠近并抓取。因此进度降低为15%。", + "state_description": "爪夹夹紧洗碗海绵垂直升高，中途爪夹突然松开，洗碗海绵掉落。\n为完成把洗碗海绵放进黄色盒子里的任务应当：爪夹重新靠近并抓取洗碗海绵。", + "time": 12.764110824742268, + "annotations": { + "bbox_1770865582871": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865582871_1770865754457_6qgb8ros6", + "x": 0.19437500000000002, + "y": 0.08753125, + "width": 0.175, + "height": 0.16 + } + ] + }, + "bbox_1770865589462": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865589462_1770865759391_3c6wdit89", + "x": 0.47537499999999994, + "y": 0.006197916666666669, + "width": 0.387, + "height": 0.3466666666666667 + } + ] + }, + "point_1770865595495": { + "type": "point", + 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0000000000000000000000000000000000000000..bf3ed25d89f16de019ab0aecf8065ee63159d543 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-143157-water ladle-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,664 @@ +{ + "task_description": "把洗碗水瓢放进黄色的盒子里\n准备开始移动：0%\n爪夹靠近洗碗水瓢：20%\n爪夹抓取洗碗水瓢：40%\n爪夹抓紧洗碗水瓢接近黄色盒子：60%\n爪夹夹紧洗碗水瓢靠近黄色盒子底部：80%\n爪夹松开：100%", + "progress_points": [ + { + "time": 1.3551546391752576, + "frame": 41, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离洗碗水瓢，未开始移动。\n为完成把洗碗水瓢放进黄色的盒子里的任务应当：爪夹向爪夹左前方的洗碗水瓢移动，同时调整爪夹的角度使其垂直与桌面，并移动到洗碗水瓢的正上方。", + "progress_explanation": "当前为初始状态，远离洗碗水瓢，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹左前方的洗碗水瓢移动，同时调整爪夹的角度使其垂直与桌面，并移动到洗碗水瓢的正上方。接着落下爪夹靠近洗碗水瓢，接近洗碗水瓢后爪夹合拢抓取洗碗水瓢。抓紧洗碗水瓢垂直升高爪夹并向爪夹右方的黄色盒子接近，水平到达黄色盒子的正上方后，爪夹抓紧洗碗水瓢垂直向下移动向黄色盒子底部接近。松开爪夹，使洗碗水瓢落入黄色盒子。", + "annotations": { + "bbox_1771896277567": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771896277567_1771900171860_6ox16hif9", + "x": 0.5549999999999999, + "y": 0.44577777099609384, + "width": 0.14300000000000007, + "height": 0.11333333333333323 + } + ] + }, + "bbox_1771896286645": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771896286645_1771900182147_oi9nsr8ev", + "x": 0.11200000000000002, + "y": 0.24755554199218746, + "width": 0.27, + "height": 0.39333333333333337 + } + ] + }, + "point_1771896293903": { + "type": "point", + "instances": [ + { + "id": "point_1771896293903_1771900199594_l5zrfloyu", + "x": 0.564, + "y": 0.2195555419921875 + } + ] + }, + "point_1771896304399": { + "type": "point", + "instances": [ + { + "id": "point_1771896304399_1771900204259_cvknr38d7", + "x": 0.48, + "y": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-143321-134154-put-tripod-paper box-red basket-mix/annotations/chunk-000/observation.images.right/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..0a7389a9dd7003919acd6aec4942a91b4e2f76c7 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-143321-134154-put-tripod-paper box-red basket-mix/annotations/chunk-000/observation.images.right/episode_000004.json @@ -0,0 +1,626 @@ +{ + "task_description": "把纸箱上的三脚架放到红色盒子里。\n准备开始移动：0%\n爪夹靠近三脚架：20%\n爪夹抓取三脚架：40%\n爪夹抓紧三脚架接近红色盒子：60%\n爪夹抓紧三脚架靠近红色盒子底部：80%\n爪夹松开：100%", + "progress_points": [ + { + "time": 1.1430927835051545, + "frame": 34, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离三脚架，未开始移动。\n为完成把纸箱上的三脚架放到红色盒子里的任务应当：爪夹向爪夹左前方的三脚架移动，同时调整爪夹的角度，并移动到三脚架的正上方。", + 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"爪夹抓紧三脚架向爪夹右后方的红色盒子接近，水平到达红色盒子的正上方后，爪夹夹紧三脚架垂直下移向红色盒子底部靠近。松开爪夹，使三脚架落入红色盒子。", + "annotations": { + "bbox_1771900886841": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771900886841_1771904192245_pb0lgt3xe", + "x": 0.528, + "y": 0.048444437662760416, + "width": 0.041999999999999996, + "height": 0.11733333333333332 + } + ] + }, + "bbox_1771900897137": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771900897137_1771904243040_lh46s357h", + "x": 0.45499999999999996, + "y": 0.39022220865885415, + "width": 0.537, + "height": 0.5786666666666667 + } + ] + } + } + }, + { + "time": 15.6222, + "frame": 469, + "progress": 60, + "action_description": "爪夹向爪夹右后方移动。", + "state_description": "爪夹夹紧三脚架向爪夹右后方移动，靠近了红色盒子。\n为完成把纸箱上的三脚架放到红色盒子里的任务应当：爪夹夹紧三脚架垂直下移向红色盒子底部靠近。", + "progress_explanation": "爪夹夹紧三脚架向爪夹右后方移动，靠近了红色盒子。因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧三脚架向爪夹右后方移动，靠近了红色盒子。", + "correction_plan": "爪夹夹紧三脚架垂直下移向红色盒子底部靠近。松开爪夹，使三脚架落入红色盒子。", + "annotations": { + "bbox_1771900886841": 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steel bowl-yellow box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..309fa6dd359fee6beec3e8df3c6ffd0c2ff4afd6 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-lilingchu/20260129-165645-safety goggles-stainless steel bowl-yellow box-mix/annotations/chunk-000/observation.images.wrist/episode_000003.json @@ -0,0 +1,705 @@ +{ + "task_description": "把眼镜从不锈钢碗取出并放到黄色垃圾斗中。\n准备开始移动：0%\n爪夹接近眼镜：20%\n爪夹夹取眼镜：40%\n爪夹移动眼镜：60%\n爪夹接近黄色垃圾斗：80%\n爪夹松开眼镜：100%", + "progress_points": [ + { + "time": 0.8651, + "frame": 26, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，爪夹与桌面平行，未开始移动，处于初始状态。\n为了完成抓取眼镜放到黄色垃圾斗中的任务目标应当：爪夹调整角度，与桌面垂直，向左侧移动到眼镜正上方。", + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": 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"爪夹向左移动，爪夹调整角度。", + "state_description": "爪夹张开，与桌面呈80度，位于眼镜正上方。\n为了完成抓取眼镜放到黄色垃圾斗中的任务目标应当：爪夹调整角度，向下移动接近眼镜。", + "progress_explanation": "爪夹移动到眼睛正上方，因此进度提升到15%。", + "error_success_analysis": "爪夹向左移动，接近眼镜正上方，方便夹取眼镜。", + "correction_plan": "爪夹调整角度，与桌面垂直，爪夹向下移动，接近眼镜，爪夹合拢夹紧眼镜，爪夹向上移动，爪夹向右前方移动到黄色垃圾斗的正上方，松开爪夹。" + }, + { + "time": 5.7181, + "frame": 172, + "progress": 25, + "action_description": "爪夹向下移动，爪夹调整角度。", + "state_description": "爪夹张开，爪夹向下移动，爪夹调整角度与桌面垂直。\n为了完成抓取眼镜放到黄色垃圾斗中的任务目标应当：爪夹张开。", + "progress_explanation": "爪夹接近眼镜，因此进度提升到25%。", + "error_success_analysis": "爪夹位于眼镜正上方，方便调整角度接近眼镜。", + "correction_plan": "爪夹合拢夹紧眼镜，爪夹向上移动，爪夹向右前方移动到黄色垃圾斗的正上方，松开爪夹。", + "annotations": { + "bbox_1771899735884": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771899735884_1771899959717_mua6dcg86", + "x": 0.27337500000000003, + "y": 0.12653125, + "width": 0.31700000000000006, + "height": 0.43200000000000005 + } + ] + }, + "bbox_1771899736099": { + "type": "bbox", + "instances": [ + { + "id": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-111740-put-red-can-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-111740-put-red-can-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..7c77ce97a0458794043446adc28b8553b5505eb4 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-111740-put-red-can-white-trash can-mix/annotations/chunk-000/observation.images.bird/episode_000002.json @@ -0,0 +1,546 @@ +{ + "task_description": "把红色罐子放到白色垃圾桶里。\n准备开始移动：0%。\n爪夹接近红色罐子：20%\n爪夹夹取红色罐子：40%\n爪夹移动红色罐子：60%\n爪夹接近白色垃圾桶：80%\n爪夹放置红色罐子：100%", + "progress_points": [ + { + "time": 1.408233, + "frame": 42, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，未开始移动，爪夹与桌面呈45度。\n为了完成爪夹夹取红色罐子并放置到白色垃圾桶上的任务目标应当：爪夹调整角度与桌面垂直，向右前方移动到红色罐子上方。", + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹调整角度，与桌面垂直，爪夹向右前方移动到红色罐子上方，爪夹向下移动，爪夹合拢夹紧红色罐子，爪夹向上移动，爪夹向左后方移动到白色垃圾桶上方，松开爪夹。" + }, + { + "time": 2.375333, + "frame": 71, + "progress": 10, + "action_description": "爪夹调整角度。", + "state_description": "爪夹张开，调整角度，与桌面垂直。\n为了完成爪夹夹取红色罐子并放置到白色垃圾桶上的任务目标应当：爪夹向右前方移动。", + "progress_explanation": "爪夹调整角度，与桌面垂直，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，调整角度与桌面垂直，方便夹取。", + "correction_plan": "爪夹向右前方移动到红色罐子上方，爪夹向下移动，爪夹合拢夹紧红色罐子，爪夹向上移动，爪夹向左后方移动到白色垃圾桶上方，松开爪夹。" + }, + { + "time": 3.376366, + "frame": 101, + "progress": 15, + "action_description": "爪夹向右前方移动。", + "state_description": "爪夹张开，向右前方移动，接近红色罐子，爪夹与桌面垂直。\n为了完成爪夹夹取红色罐子并放置到白色垃圾桶上的任务目标应当：爪夹向前方移动到红色罐子上方。", + "progress_explanation": "爪夹向右前方移动，缩短与红色罐子的距离，因此进度提升到15%。", + "error_success_analysis": "爪夹调整角度，方便向红色罐子移动。", + "correction_plan": "爪夹向前方移动到红色罐子上方，爪夹向下移动，爪夹合拢夹紧红色罐子，爪夹向上移动，爪夹向左后方移动到白色垃圾桶上方，松开爪夹。" + }, + { + "time": 4.394366, + "frame": 132, + "progress": 18, + "action_description": "爪夹向下移动。", + "state_description": "爪夹张开，向下移动到绿色罐子上方，爪夹与桌面垂直。\n为了完成爪夹夹取红色罐子并放置到白色垃圾桶上的任务目标应当：爪夹向前移动到红色罐子的上方。", + "progress_explanation": "爪夹向下移动，缩短与红色罐子的距离，因此进度提升到18%。", + "error_success_analysis": "爪夹向下移动，缩短与红色罐子的距离。", + "correction_plan": "爪夹向前方移动到红色罐子上方，爪夹合拢夹紧红色罐子，爪夹向上移动，爪夹向左后方移动到白色垃圾桶上方，松开爪夹。", + "annotations": { + "bbox_1771912249123": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771912249123_1771912338824_ui5lu7eep", + "x": 0.30637499999999995, + "y": 0.4291979166666667, + "width": 0.14400000000000004, + "height": 0.21466666666666664 + } + ] + }, + "point_1771912249932": { + "type": "point", + "instances": [ + { + "id": "point_1771912249932_1771912345592_t9kp80anl", + "x": 0.640375, + "y": 0.5625312499999999 + } + ] + }, + "point_1771912250075": { + 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can-mix/annotations/chunk-000/observation.images.head/episode_000003.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-134923-put-green-can-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000003.json new file mode 100644 index 0000000000000000000000000000000000000000..cca1147d3f2594cbec0da26e759b83744fe1fa9a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-134923-put-green-can-white-trash can-mix/annotations/chunk-000/observation.images.head/episode_000003.json @@ -0,0 +1,720 @@ +{ + "task_description": "爪夹夹取绿色罐子放置到白色垃圾桶中。\n准备开始移动：0%\n爪夹接近绿色罐子：20%\n爪夹夹取绿色罐子：40%\n爪夹移动绿色罐子：60%\n爪夹接近白色垃圾桶：80%\n爪夹放置绿色罐子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整角度，向右前方移动到绿色罐子正上方，爪夹向下移动，爪夹合拢夹紧绿色罐子，爪夹向上移动，爪夹向左移动到白色垃圾桶的正上方，爪夹松开。", + "error_success_analysis": "", + 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"爪夹向上移动。", + "correction_plan": "爪夹向右前方移动到绿色罐子的正上方，爪夹向下移动，爪夹合拢夹紧绿色罐子，爪夹向上移动，爪夹向左移动到白色垃圾桶的正上方，爪夹松开。", + "error_success_analysis": "爪夹向上移动，远离绿色罐子。", + "frame": 151, + "progress": 8, + "progress_explanation": "爪夹向上移动，远离绿色罐子，因此进度降低到8%。", + "state_description": "爪夹张开，与桌面平行，爪夹向上移动。\n为了完成爪夹夹取绿色罐子放置到白色垃圾桶的任务目标应当：爪夹向右前方移动到绿色罐子的正上方。", + "time": 5.0336, + "annotations": { + "bbox_1771916758055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758055_1771916881326_q79qomo4f", + "x": 0.610375, + "y": 0.49053125000000003, + "width": 0.10100000000000006, + "height": 0.15466666666666662 + } + ] + }, + "bbox_1771916758198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758198_1771916885603_anmjis1g7", + "x": 0.167375, + "y": 0.4118645833333333, + "width": 0.178, + "height": 0.26666666666666666 + } + ] + }, + "point_1771916759063": { + "type": "point", + "instances": [ + { + "id": "point_1771916759063_1771916892060_k7lx39bxx", + "x": 0.471375, + "y": 0.5518645833333333 + } 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+ "bbox_1771916758055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758055_1771917141908_gknikcmgk", + "x": 0.604375, + "y": 0.5411979166666666, + "width": 0.09699999999999998, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1771916758198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758198_1771917151651_ezc5zdopa", + "x": 0.168375, + "y": 0.40653125000000007, + "width": 0.174, + "height": 0.148 + } + ] + }, + "point_1771916759063": { + "type": "point", + "instances": [ + { + "id": "point_1771916759063_1771917162705_wtsc3bzvf", + "x": 0.559375, + "y": 0.53453125 + } + ] + }, + "point_1771916759240": { + "type": "point", + "instances": [ + { + "id": "point_1771916759240_1771917164636_roi805d1y", + "x": 0.689375, + "y": 0.59053125 + } + ] + } + } + }, + { + "action_description": "爪夹向前下方移动。", + "correction_plan": "合拢爪夹，爪夹向上移动，爪夹向左移动到白色垃圾桶的正上方，爪夹松开。", + "error_success_analysis": "爪夹向前下方移动，爪夹与桌面平行，方便抓取。", + "frame": 386, + "progress": 20, + "progress_explanation": "爪夹向前下方移动，接近绿色罐子，因此进度提升到20%。", + "state_description": "爪夹张开，爪夹向前下方移动，接近绿色罐子。\n为了完成爪夹夹取绿色罐子放置到白色垃圾桶的任务目标应当：合拢爪夹。", + "time": 12.850933, + "annotations": { + "bbox_1771916758055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758055_1771917172643_hds0hq9jo", + "x": 0.624375, + "y": 0.5478645833333334, + "width": 0.10499999999999998, + "height": 0.15066666666666664 + } + ] + }, + "bbox_1771916758198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758198_1771917176459_e71ah86bd", + "x": 0.170375, + "y": 0.40786458333333336, + "width": 0.15599999999999997, + "height": 0.27066666666666667 + } + ] + }, + "point_1771916759063": { + "type": "point", + "instances": [ + { + "id": "point_1771916759063_1771917184814_cx5oul5wt", + "x": 0.584375, + "y": 0.5691979166666667 + } + ] + }, + "point_1771916759240": { + "type": "point", + "instances": [ + { + "id": "point_1771916759240_1771917186927_f2r91xlsr", + "x": 0.6943750000000001, + "y": 0.6451979166666667 + } + ] + } + } + }, + { + "action_description": "爪夹合拢。", + "correction_plan": "爪夹向上移动，爪夹向左移动到白色垃圾桶的正上方，爪夹松开。", + "error_success_analysis": "爪夹接近绿色罐子，爪夹合拢成功夹紧绿色罐子。", + "frame": 403, + "progress": 40, + "progress_explanation": "爪夹合拢夹紧绿色罐子，因此进度提升到40%。", + "state_description": "爪夹合拢夹紧绿色罐子，爪夹与桌面平行。\n为了完成爪夹夹取绿色罐子放置到白色垃圾桶的任务目标应当：爪夹向上移动。", + "time": 13.422933, + "annotations": { + "bbox_1771916758055": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758055_1771917192842_w63pmgttf", + "x": 0.613375, + "y": 0.5438645833333333, + "width": 0.11200000000000002, + "height": 0.1426666666666667 + } + ] + }, + "bbox_1771916758198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758198_1771917202043_p0mkfehrr", + "x": 0.168375, + "y": 0.41053124999999996, + "width": 0.161, + "height": 0.268 + } + ] + }, + "point_1771916759063": { + "type": "point", + "instances": [ + { + "id": "point_1771916759063_1771917207186_ll7zmls0d", + "x": 0.597375, + "y": 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"height": 0.15999999999999998 + } + ] + }, + "point_1771916759063": { + "type": "point", + "instances": [ + { + "id": "point_1771916759063_1771917235971_5w92t0b5u", + "x": 0.5823750000000001, + "y": 0.40786458333333336 + } + ] + }, + "point_1771916759240": { + "type": "point", + "instances": [ + { + "id": "point_1771916759240_1771917238987_gwkggjw0i", + "x": 0.676375, + "y": 0.44386458333333334 + } + ] + } + } + }, + { + "action_description": "爪夹向左侧移动。", + "correction_plan": "爪夹张开。", + "error_success_analysis": "爪夹夹紧绿色罐子向左移动，接近白色垃圾桶。", + "frame": 496, + "progress": 80, + "progress_explanation": "爪夹夹紧绿色罐子向左侧移动到，因此进度提升到80%。", + "state_description": "爪夹合拢，夹紧绿色罐子，向左侧移动到白色垃圾桶的正上方。\n为了完成爪夹夹取绿色罐子放置到白色垃圾桶的任务目标应当：爪夹张开。", + "time": 16.5308 + }, + { + "action_description": "爪夹张开。", + "correction_plan": "", + "error_success_analysis": "爪夹张开，绿色罐子落入白色垃圾桶中。", + "frame": 572, + "progress": 100, + "progress_explanation": "爪夹张开，绿色罐子落入白色垃圾桶中，因此进度提升到100%。", + "state_description": "爪夹张开，绿色罐子落入白色垃圾桶中。\n爪夹夹取绿色罐子放置到白色垃圾桶中的任务目标完成，。", + "time": 19.066667, + "annotations": { + "bbox_1771916758198": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771916758198_1771917271431_qhf50b9nd", + "x": 0.20837500000000003, + "y": 0.41319791666666666, + "width": 0.13700000000000004, + "height": 0.2666666666666667 + } + ] + }, + "point_1771916759240": { + "type": "point", + "instances": [ + { + "id": "point_1771916759240_1771917282368_13no9m42y", + "x": 0.327375, + "y": 0.43053125 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1771916758055", + "name": "绿色罐子", + "color": "#4CAF50" + }, + { + "id": "bbox_1771916758198", + "name": "白色垃圾桶", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1771916759063", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1771916759240", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-144615-put-green-can-red-can under-mix/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-144615-put-green-can-red-can under-mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..93b35e77c2bc28ebb9cff045a1c4a1d269123833 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-144615-put-green-can-red-can under-mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,686 @@ +{ + "task_description": "把绿色罐子放到红色罐子后方。\n准备开始移动：0%\n爪夹接近绿色罐子：20%\n爪夹夹紧绿色罐子：40%\n爪夹移动绿色罐子：60%\n爪夹接近红色罐子：80%\n爪夹放置绿色罐子：100%", + "progress_points": [ + { + "time": 1.4489862328608245, + "frame": 43, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，未开始移动，处于初始状态，与桌面垂直。\n为了完成爪夹夹取绿色罐子放置到红色罐子后方的任务应当：爪夹调整角度。", + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹调整角度与桌面垂直，爪夹向右前方移动到绿色罐子的正上方，爪夹向下移动，爪夹合拢夹紧绿色罐子，爪夹向上移动，爪夹向左移动到红色罐子后方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1771920659493": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771920659493_1771920695874_irw23z9y9", + "x": 0.640375, + "y": 0.36353125000000003, + "width": 0.08899999999999997, + "height": 0.13999999999999999 + } + ] + }, + "bbox_1771920659635": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771920659635_1771920700466_1ya0ua2ii", + "x": 0.469375, + "y": 0.43453125000000004, + "width": 0.08100000000000004, + "height": 0.14399999999999996 + } + ] + }, + "point_1771920660747": { + "type": "point", + "instances": [ + { + "id": "point_1771920660747_1771920709058_vafp2mzps", + "x": 0.22137500000000002, + "y": 0.25053125 + } + ] + } + } + }, + { + "time": 2.027999, + "frame": 61, + "progress": -5, + "action_description": "爪夹向上移动。", + "state_description": "爪夹向上移动，爪夹与桌面垂直，爪夹远离绿色罐子。\n为了完成爪夹夹取绿色罐子放置到红色罐子后方的任务应当：爪夹向右前方移动到绿色罐子正上方。", + "progress_explanation": "爪夹向上移动，远离绿色罐子，因此进度降低到-5%。", + "error_success_analysis": "爪夹向上移动，远离绿色罐子。", + "correction_plan": "爪夹调整角度与桌面垂直，爪夹向右前方移动到绿色罐子的正上方，爪夹向下移动，爪夹合拢夹紧绿色罐子，爪夹向上移动，爪夹向左移动到红色罐子后方，爪夹向下移动，松开爪夹。" + }, + { + "time": 2.726533, + "frame": 82, + "progress": 5, + "action_description": "爪夹向前移动。", + "state_description": "爪夹张开，向前移动，爪夹与桌面垂直。\n为了完成爪夹夹取绿色罐子放置到红色罐子后方的任务应当：爪夹调整角度与桌面垂直。", + "progress_explanation": "爪夹向前移动，缩短与绿色罐子的距离，因此进度提升到5%。", + "error_success_analysis": "爪夹张开，向前移动，方便接近绿色罐子。", + "correction_plan": "爪夹调整角度与桌面垂直，爪夹向右前方移动到绿色罐子的正上方，爪夹向下移动，爪夹合拢夹紧绿色罐子，爪夹向上移动，爪夹向左移动到红色罐子后方，爪夹向下移动，松开爪夹。" + }, + { + "time": 3.582799, + "frame": 107, + "progress": 8, + "action_description": "爪夹向右移动。", + "state_description": 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"id": "point_1771920660747", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-154446-put-banana peel-white-plastic basket-mix/annotations/chunk-000/observation.images.head/episode_000004.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-154446-put-banana peel-white-plastic basket-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..14ee11e21ca6ca2286cfec7bb5c617cb1663f43d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-154446-put-banana peel-white-plastic basket-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,610 @@ +{ + "task_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-162552-put-bananas-white-plastic basket-mix/annotations/chunk-000/observation.images.head/episode_000004.json new file mode 100644 index 0000000000000000000000000000000000000000..ccbb60bd954acb6ec6fd32bcae657f5f6eb56b6a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-162552-put-bananas-white-plastic basket-mix/annotations/chunk-000/observation.images.head/episode_000004.json @@ -0,0 +1,695 @@ +{ + "task_description": "把香蕉放到白色塑料篮子上。\n准备开始移动：0%\n爪夹接近红色罐头：12%\n爪夹夹取红色罐头：24%\n爪夹移开红色罐头：36%\n爪夹接近香蕉：48%\n爪夹夹取香蕉：60%\n爪夹移动香蕉：76%\n爪夹接近白色塑料篮子：84%\n爪夹放置香蕉：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整角度与桌面垂直，爪夹向右侧移动到红色罐子上方，爪夹向下移动，合拢爪夹夹取红色罐子，爪夹向右移动，松开爪夹移开红色罐子，爪夹向左移动到香蕉的正上方，爪夹向下移动，合拢爪夹夹取香蕉，爪夹向上移动，爪夹向左移动到白色塑料篮子上方，松开爪夹。", + 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basket-mix/annotations/chunk-000/observation.images.bird/episode_000007.json @@ -0,0 +1,722 @@ +{ + "task_description": "把红色辣椒放到白色塑料篮子上。\n准备开始移动：0%\n爪夹接近红色辣椒：25%\n爪夹夹取红色辣椒：50%\n爪夹接近白色塑料篮子：75%\n爪夹放置红色辣椒：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹调整角度，与桌面垂直，爪夹向左前方移动到红色辣椒的正上方，爪夹向下移动，合拢爪夹夹紧红色辣椒，爪夹向上移动，爪夹向右侧移动到白色塑料篮子的正上方，松开爪夹。", + "error_success_analysis": "", + "frame": 54, + "progress": 0, + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "state_description": "爪夹张开，处于初始状态，爪夹与桌面平行，未开始移动。\n为了完成爪夹夹取红色辣椒并放置到白色塑料篮子上方的任务目标应当：爪夹调整角度与桌面垂直。", + "time": 1.800666 + }, + { + "action_description": "爪夹调整角度，爪夹向做前方移动。", + "correction_plan": "合拢爪夹夹紧红色辣椒，爪夹向上移动，爪夹向右侧移动到白色塑料篮子的正上方，松开爪夹。", + "error_success_analysis": "爪夹张开，向左前方移动，调整角度，方便抓取。", + "frame": 87, + "progress": 10, + "progress_explanation": "爪夹调整角度，向左前方移动，因此进度提升到10%。", + "state_description": "爪夹张开，爪夹调整角度，向左前方移动，位于红色辣椒正上方。\n为了完成爪夹夹取红色辣椒并放置到白色塑料篮子上方的任务目标应当：合拢爪夹。", + "time": 2.886 + }, + { + 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"point_1771989366853", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-182051-put-yellow-sponge-white-plastic basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-182051-put-yellow-sponge-white-plastic basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..296288e86177c3b195deea95af324b77621c2bd3 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260129-songjiaqi/20260129-182051-put-yellow-sponge-white-plastic basket-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,890 @@ +{ + "task_description": "把黄色海绵放到白色塑料篮子上。\n准备开始移动：0%\n爪夹接近白色塑料篮子：50%\n爪夹放置黄色海绵：100%", + "progress_points": [ + { + "time": 1.081166, + "frame": 32, + "progress": 0, + "action_description": "爪夹合拢，未开始移动。", + "state_description": "爪夹合拢夹紧黄色海绵，未开始移动，处于初始状态。\n为了完成夹取黄色海绵并放置到白色塑料篮子上的任务目标应当：爪夹向左移动。", + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向左移动，接近白色塑料篮子上方，爪夹向下移动接近白色塑料篮子，松开爪夹。" + }, + { + "time": 1.646699, + "frame": 49, + "progress": 5, + "action_description": "爪夹向上移动。", + "state_description": "爪夹合拢，夹紧黄色海绵，向上移动。\n为了完成夹取黄色海绵并放置到白色塑料篮子上的任务目标应当：爪夹向左移动。", + "progress_explanation": "爪夹夹紧黄色海绵向上移动，因此进度提升到5%。", + "error_success_analysis": "爪夹合拢夹紧海绵，向上移动，方便后续向白色塑料篮子移动。", + "correction_plan": "爪夹向左移动，接近白色塑料篮子上方，爪夹向下移动，松开爪夹。" + }, + { + "time": 2.561533, + "frame": 77, + "progress": 10, + "action_description": "爪夹向左移动。", + "state_description": "爪夹合拢夹紧黄色海绵，向左移动，缩短与白色塑料篮子的距离。\n为了完成夹取黄色海绵并放置到白色塑料篮子上的任务目标应当：继续向左移动。", + "progress_explanation": "爪夹合拢夹紧黄色海绵，向左移动，缩短与白色塑料篮子的距离，因此进度提升到10%。", + "error_success_analysis": "爪夹向左移动，缩短与白色塑料篮子的距离。", + "correction_plan": "爪夹向左移动到白色塑料篮子的正上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1771998487530": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998487530_1771998583055_984ivabt5", + "x": 0.4003749999999999, + "y": 0.16386458333333334, + "width": 0.25100000000000006, + "height": 0.5573333333333333 + } + ] + }, + "bbox_1771998487682": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998487682_1771998596630_5wrh35ca7", + "x": 0.00037500000000000033, + "y": -0.00146875, + "width": 0.544, + "height": 0.6933333333333334 + } + ] + }, + "point_1771998488458": { + "type": "point", + "instances": [ + { + "id": "point_1771998488458_1771998603472_ngya93hhh", + "x": 0.41937499999999994, + "y": 0.52253125 + } + ] + }, + "point_1771998488609": { + "type": "point", + "instances": [ + { + "id": "point_1771998488609_1771998605439_pjggyetbz", + "x": 0.606375, + "y": 0.5318645833333334 + 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basket-mix-1/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..6c3e9e2a31be4de126e64d19ee0a346f2156e46e --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-lilingchu/20260130-103418-tomato-blue plastic bowl-yellow basket-mix-1/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,682 @@ +{ + "task_description": "把番茄从碗中取出并放到黄色篮子里。\n准备开始移动：0%\n爪夹接近番茄：20%\n爪夹夹取番茄：40%\n爪夹移动番茄：60%\n爪夹接近黄色篮子：80%\n爪夹放置番茄：100%", + "progress_points": [ + { + "time": 1.047199, + "frame": 31, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，爪夹垂直于地面，爪夹处于初始状态，未开始移动。\n为了完成爪夹夹取番茄并防止到黄色篮子的任务目标应当：爪夹向左前方移动到番茄的正上方，调整爪夹角度与桌面垂直。", + "progress_explanation": "爪夹处于初始状态，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向左前方移动到番茄的正上方，调整爪夹角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧番茄，爪夹向上移动，爪夹向右移动到黄色篮子上方，爪夹向下移动，松开爪夹。" + 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"爪夹张开，与桌面呈45度，向左移动到番茄上方。\n为了完成爪夹夹取番茄并防止到黄色篮子的任务目标应当：爪夹向下移动，爪夹调整角度与桌面垂直。", + "progress_explanation": "爪夹向左移动到番茄的上方，因此进度提升到15%。", + "error_success_analysis": "爪夹向左移动，接近番茄上方，方便抓取。", + "correction_plan": "调整爪夹角度与桌面垂直，爪夹向下移动，合拢爪夹夹紧番茄，爪夹向上移动，爪夹向右移动到黄色篮子上方，爪夹向下移动，松开爪夹。", + "annotations": { + "bbox_1770861863680": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770861863680_1770862082571_lesjvm9xv", + "x": 0.211375, + "y": 0.34919791666666666, + "width": 0.086, + "height": 0.08000000000000002 + } + ] + }, + "bbox_1770861863832": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770861863832_1770862089387_qi821zzod", + "x": 0.530375, + "y": 0.12653125, + "width": 0.44399999999999995, + "height": 0.6226666666666667 + } + ] + }, + "point_1770861864656": { + "type": "point", + "instances": [ + { + "id": "point_1770861864656_1770862102075_zjseny9oh", + "x": 0.071375, + "y": 0.13719791666666667 + } + ] + }, + "point_1770861864845": { + "type": "point", + "instances": [ + { + "id": 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}, + { + "id": "point_1770861864845", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-lilingchu/20260130-135631-radish-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.front/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-lilingchu/20260130-135631-radish-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.front/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..e82396a1dd83d6378a4ca024ea66dc18bc1b84d1 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-lilingchu/20260130-135631-radish-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.front/episode_000000.json @@ -0,0 +1,554 @@ +{ + "task_description": "把碗中萝卜取出并放到黄色篮子里。\n准备开始移动：0%\n爪夹接近萝卜：20%\n爪夹夹取萝卜：40%\n爪夹移动萝卜：60%\n爪夹接近黄色篮子：80%\n爪夹放置萝卜：100%", + "progress_points": [ + { + "time": 1.135333, + "frame": 34, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，未开始移动，爪夹与桌面平行。\n为了完成爪夹夹取萝卜并放置到黄色篮子的里的任务目标应当：爪夹向左前方移动到萝卜上方。", + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向右前方移动到萝卜正上方，爪夹调整角度与桌面垂直，爪夹向下移动接近萝卜，合拢爪夹夹紧萝卜，爪夹向上移动，爪夹向前移动到黄色篮子上方，爪夹张开。" + }, + { + "time": 2.096, + "frame": 63, + "progress": 5, + "action_description": "爪夹向上移动。", + "state_description": "爪夹张开，向上移动，爪夹与桌面平行。\n为了完成爪夹夹取萝卜并放置到黄色篮子的里的任务目标应当：爪夹向右前方移动到萝卜的正上方。", + "progress_explanation": "爪夹向上移动，方便接近萝卜，因此进度提升到5%。", + "error_success_analysis": "爪夹向上移动，爪夹张开，方便后续移动到萝卜上方。", + "correction_plan": "爪夹向右前方移动到萝卜正上方，爪夹调整角度与桌面垂直，爪夹向下移动接近萝卜，合拢爪夹夹紧萝卜，爪夹向上移动，爪夹向前移动到黄色篮子上方，爪夹张开。" + }, + { + "time": 3.860133, + "frame": 116, + "progress": 10, + "action_description": "爪夹向右前方移动，爪夹调整角度。", + "state_description": "爪夹张开，调整角度与桌面垂直，爪夹向右前方移动到萝卜上方。\n为了完成爪夹夹取萝卜并放置到黄色篮子的里的任务目标应当：爪夹向下移动，接近萝卜。", + "progress_explanation": "爪夹调整角度，并接近萝卜上方，因此进度提升到10%。", + "error_success_analysis": "爪夹张开，调整角度，接近萝卜上方。", + "correction_plan": "爪夹向下移动接近萝卜，合拢爪夹夹紧萝卜，爪夹向上移动，爪夹向前移动到黄色篮子上方，爪夹张开。" + }, + { + "time": 4.943066, + "frame": 148, + "progress": 15, + "action_description": "爪夹向下移动。", + "state_description": "爪夹向下移动，接近萝卜上方，爪夹与桌面垂直。\n为了完成爪夹夹取萝卜并放置到黄色篮子的里的任务目标应当：爪夹向下移动，接近萝卜。", + "progress_explanation": "爪夹向下移动，缩短与萝卜的距离，因此进度提升到15%。", + "error_success_analysis": "爪夹向下移动，接近萝卜，方便后续夹取。", + "correction_plan": "爪夹向下移动接近萝卜，合拢爪夹夹紧萝卜，爪夹向上移动，爪夹向前移动到黄色篮子上方，爪夹张开。", + "annotations": { + "bbox_1770865717826": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770865717826_1770866017637_9t50vifu0", + "x": 0.547375, + "y": 0.25853125, + "width": 0.11200000000000002, + "height": 0.15200000000000002 + } + ] + }, + "bbox_1770865717994": { + "type": "bbox", + "instances": [ + { + "id": 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+++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-lilingchu/20260130-162420-onion-blue plastic bowl-yellow basket-mix-2/annotations/chunk-000/observation.images.bird/episode_000001.json @@ -0,0 +1,620 @@ +{ + "task_description": "把洋葱放到黄色篮子里。\n准备开始移动：0%\n爪夹接近洋葱：20%\n爪夹夹取洋葱：40%\n爪夹移动洋葱：60%\n爪夹接近黄色篮子：80%\n爪夹放置洋葱：100%", + "progress_points": [ + { + "time": 0.9457, + "frame": 28, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，爪夹平行于桌面，远离洋葱。\n为了完成爪夹夹取洋葱并放置到黄色篮子中的任务目标应当：爪夹向右前方移动。", + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向右前方移动到洋葱正上方，爪夹调整角度垂直于桌面，爪夹向下移动接近洋葱，合拢爪夹夹取洋葱，爪夹向上移动，爪夹向左移动到黄色篮子上方，爪夹张开。", + "annotations": { + "bbox_1770877136163": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770877136163_1770877182257_8hwgh22lp", + "x": 0.7893749999999999, + "y": 0.15419791666666666, + "width": 0.08200000000000011, + "height": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-100057-put-goggles-blue-tray-mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..295149805341ba04ccc40da29761cef9d3b3ddc2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-100057-put-goggles-blue-tray-mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,652 @@ +{ + "task_description": "把护目镜放到蓝盘子中。\n准备开始移动：0%\n爪夹接近护目镜：20%\n爪夹夹取护目镜：40%\n爪夹移动护目镜：60%\n爪夹接近蓝盘子：80%\n爪夹放置护目镜：100%", + "progress_points": [ + { + "time": 1.7064, + "frame": 51, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "爪夹张开，爪夹未开始移动，爪夹与桌面垂直，处于初始状态。\n为了完成爪夹夹取护目镜并放置到蓝盘子中的任务目标应当：爪夹向右前方移动。", + "progress_explanation": "爪夹张开，未开始移动，因此进度为0%。", + "error_success_analysis": "", + 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"point_1770948514930", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770948515074", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-142852-put-inner pot-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-142852-put-inner pot-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json new file mode 100644 index 0000000000000000000000000000000000000000..21c3c28fe0d2104e4eb9f44d340e0e075abd7a78 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-142852-put-inner pot-white-rice cooker-mix/annotations/chunk-000/observation.images.bird/episode_000009.json @@ -0,0 +1,670 @@ +{ + "task_description": "将内锅放入白色电饭锅中\n开始移动0%\n爪夹靠近内锅25%\n爪夹抓取内锅50%\n爪夹抓取内锅移动至白色电饭锅正上方75%\n爪夹张开，内锅落入白色电饭锅中100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动", + "correction_plan": "爪夹向爪夹方向右前方内锅位置移动，同时调整爪夹角度使其垂直于桌面，移动至内锅上方后下降爪夹，下降至贴紧内锅的位置合拢爪夹抓取内锅，之后保持爪夹合拢状态抬升并向爪夹方向左方白色电饭锅位置移动，移动至白色电饭锅上方后张开爪夹使内锅落入白色电饭锅中", + "error_success_analysis": "", + "frame": 47, + "progress": 0, + "progress_explanation": "当前为初始状态，未开始移动，因此进度为0%", + "state_description": "当前为初始状态，爪夹张开，远离内锅，未开始移动\n为完成将内锅放入白色电饭锅中的任务应当：爪夹向爪夹方向右前方内锅位置移动，同时调整爪夹角度使其垂直于桌面", + "time": 1.582607, + "annotations": { + "bbox_1772007317220": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772007317220_1772007340252_sedwbr2eh", + "x": 0.8327777201673754, + "y": 0.27738886292408343, + "width": 0.16599998986816455, + "height": 0.2759999775390643 + } + ] + }, + "bbox_1772007317405": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772007317405_1772007351567_xtgff6zw4", + "x": 0.5357777382948157, + "y": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-155849-put-carrots-white-rice cooker next to the corn-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-155849-put-carrots-white-rice cooker next to the corn-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..135375c8c80409b8db720b5e0e2ae7bc76923129 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-155849-put-carrots-white-rice cooker next to the corn-mix/annotations/chunk-000/observation.images.wrist/episode_000008.json @@ -0,0 +1,722 @@ +{ + "task_description": "把白电饭锅里的胡萝卜放在玉米旁边\n爪夹未开始移动0%\n爪夹靠近胡萝卜20%\n爪夹抓取胡萝卜40%\n爪夹抓住胡萝卜靠近玉米60%\n爪夹抓住胡萝卜放到玉米旁边80%\n爪夹松开，胡萝卜放在玉米旁边100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹开始向爪夹的右前方向移动，移动至白色电饭锅附近后爪夹向爪夹的右下方移动至胡萝卜旁边。随后合拢爪夹夹取胡萝卜向爪夹的上方移动，接着爪夹在向爪夹后方移动的过程中张开爪夹胡萝卜掉落在桌面上。爪夹向爪夹的右方移动至胡萝卜的上方后爪夹垂直下落到红萝卜的附近合拢爪夹夹取胡萝卜。接着爪夹向爪夹的右上方移动至玉米的上方，随后爪夹在垂直下落的过程中调整爪夹的角度使胡萝卜在玉米的旁边，最后张开爪夹胡萝卜放在玉米旁边。", + "error_success_analysis": "", + "frame": 63, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动。因此进度为0%。", + "state_description": "当前为初始状态，爪夹张开远离胡萝卜，未开始移动。\n为完成把白电饭锅里的胡萝卜放在玉米旁边的任务：爪夹开始向爪夹的右前方向移动，移动至白色电饭锅附近后爪夹向爪夹的右下方移动至胡萝卜旁边。", + "time": 2.1089744038461538, + "annotations": { + "bbox_1771984147396": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984147396_1772008113624_lhlr3ecay", + "x": 0.7690763052208835, + "y": 0.20883534136546184, + "width": 0.050200803212851496, + "height": 0.10441767068273092 + } + ] + }, + "bbox_1771984148212": { + "type": "bbox", + "instances": 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"action_description": "爪夹张开。", + "correction_plan": "已完成把胡萝卜放在玉米旁边的任务。", + "error_success_analysis": "已完成把胡萝卜放在玉米旁边的任务。", + "frame": 413, + "progress": 100, + "progress_explanation": "胡萝卜放在玉米旁边，因此进度提升为100%。", + "state_description": "当前状态为爪夹张开，胡萝卜放在玉米的旁边。", + "time": 13.758547301282052, + "annotations": { + "point_1771984150234": { + "type": "point", + "instances": [ + { + "id": "point_1771984150234_1772008420407_z3zhl6ohx", + "x": 0.6606425702811245, + "y": 0.6131191432396252 + } + ] + }, + "point_1771984150027": { + "type": "point", + "instances": [ + { + "id": "point_1771984150027_1772008422080_5v2q22vyi", + "x": 0.3614457831325301, + "y": 0.6131191432396252 + } + ] + }, + "bbox_1771984148212": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771984148212_1772008429721_96p279d4v", + "x": 0.32329317269076296, + "y": -1.4802973661668754e-17, + "width": 0.31325301204819267, + "height": 0.48460508701472554 + } + ] + }, + "bbox_1771984147396": { + "type": "bbox", + "instances": [ + 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cooker-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..ff52c19d5c379d6bbc931be916864a5c5505f41c --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-173133-put-white-rice cooker-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,750 @@ +{ + "task_description": "把电饭煲放在垫子上\n爪夹未开始移动0%\n爪夹靠近电饭煲20%\n爪夹抓取电饭煲40%\n爪夹抓住电饭煲靠近垫子60%\n爪夹将电饭煲放到垫子上80%\n爪夹松开，电饭煲放到垫子上100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1771998748552": { + "instances": [ + { + "height": 0.4551539491298528, + "id": "bbox_1771998748552_1772007420836_j0ws07kao", + "width": 0.2931726907630522, + "x": 0.5783132530120482, + "y": 0.008032128514056224 + } + ], + "type": "bbox" + }, + "bbox_1771998748725": { + "instances": [ + { + "height": 0.38018741633199465, + "id": "bbox_1771998748725_1772007435190_pvyg1q3zm", + "width": 0.389558232931727, + "x": 0.3132530120481928, + "y": 0.32396251673360105 + } + ], + "type": "bbox" + } + }, + "correction_plan": "爪夹向爪夹的前方移动靠近电饭煲，随后爪夹向爪夹的后方移动接着爪夹向爪夹的下方移动至电饭煲附近，爪夹向前方移动靠近电饭煲后合拢爪夹夹取电饭煲。爪夹夹取电饭煲向爪夹的后上方移动，移动过程中放下电饭煲爪夹张开。随后爪夹向爪夹的前方移动至电饭煲把手旁边合拢爪夹。爪夹夹取电饭煲向上抬升至空中，爪夹向爪夹后上方移动过程中张开爪夹，电饭煲掉落在桌面上。爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手。随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。最后张开爪夹电饭煲落在了垫子上。", + "error_success_analysis": "", + "frame": 62, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动。因此进度为0%。", + "state_description": "当前状态为爪夹张开，爪夹张开远离电饭煲，未开始移动。\n为完成把电饭煲放在垫子上的任务：爪夹向爪夹的前方移动靠近电饭煲，随后爪夹向爪夹的后方移动接着爪夹向爪夹的下方移动。", + "time": 2.065669491452992 + }, + { + "action_description": "爪夹向爪夹的前方移动。", + "annotations": { + "bbox_1771998748552": { + "instances": [ + { + "height": 0.45783132530120485, + "id": "bbox_1771998748552_1772007470314_urf91jycb", + "width": 0.2951807228915664, + "x": 0.5823293172690762, + "y": 0.002677376171352075 + } + 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"爪夹向爪夹的前方移动至电饭煲的旁边。", + "frame": 448, + "progress": 30, + "progress_explanation": "爪夹向爪夹的前方移动至电饭煲的旁边。因此进度提升为30%。", + "state_description": "当前状态为爪夹张开，位于电饭煲的旁边。\n为完成把电饭煲放在垫子上的任务：合拢爪夹，爪夹夹取电饭煲向上抬升至空中，爪夹向爪夹后上方移动过程中张开爪夹电饭煲掉落在桌面上，爪夹向爪夹的前下方向移动至电饭煲把手旁边。", + "time": 14.945726320512822, + "annotations": { + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748552_1772007845690_5qt9r43se", + "x": 0.49598393574297195, + "y": 0.02677376171352075, + "width": 0.2730923694779116, + "height": 0.5087014725568942 + } + ] + }, + "bbox_1771998748725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748725_1772007854678_mamoe8pej", + "x": 0.31526104417670686, + "y": 0.3293172690763052, + "width": 0.3875502008032129, + "height": 0.3828647925033467 + } + ] + } + } + }, + { + "action_description": "合拢爪夹。", + "correction_plan": "爪夹夹取电饭煲向上抬升至空中，爪夹向爪夹后上方移动过程中张开爪夹，电饭煲掉落在桌面上。爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手。随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。最后张开爪夹电饭煲落在了垫子上。", + "error_success_analysis": "爪夹合拢，夹取电饭煲把手。", + "frame": 472, + "progress": 40, + "progress_explanation": "爪夹合拢，夹取电饭煲把手。因此进度提升为40%。", + "state_description": "当前状态为爪夹合拢，夹取电饭煲把手。\n为完成把电饭煲放在垫子上的任务：爪夹夹取电饭煲向上抬升至空中，爪夹向爪夹后上方移动过程中张开爪夹电饭煲掉落在桌面上，爪夹向爪夹的前下方向移动至电饭煲把手旁边。", + "time": 15.735541126068378, + "annotations": { + "bbox_1771998748725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748725_1772007872969_82jfvyh5x", + "x": 0.2751004016064257, + "y": 0.32128514056224894, + "width": 0.42771084337349397, + "height": 0.38554216867469887 + } + ] + }, + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748552_1772007879172_zusiik0eo", + "x": 0.4919678714859438, + "y": 0.01606425702811245, + "width": 0.27911646586345384, + "height": 0.5167336010709505 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的上方移动。", + "correction_plan": "爪夹向爪夹后上方移动过程中张开爪夹，电饭煲掉落在桌面上。爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手。随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。最后张开爪夹电饭煲落在了垫子上。", + 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"error_success_analysis": "爪夹合拢，夹取电饭煲于空中远离垫子。", + "frame": 555, + "progress": -20, + "progress_explanation": "爪夹合拢，夹取电饭煲于空中远离垫子。因此进度降为-20%。", + "state_description": "当前状态为爪夹合拢，夹取电饭煲于空中。\n为完成把电饭煲放在垫子上的任务：张开爪夹电饭煲掉落在桌面上，爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手，随后爪夹向爪夹的后方移动至垫子的上方。", + "time": 18.510099, + "annotations": { + "bbox_1771998748725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748725_1772007917923_p3ty7k6bw", + "x": 0.28714859437751006, + "y": 0.32396251673360105, + "width": 0.41566265060240964, + "height": 0.38554216867469876 + } + ] + }, + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748552_1772007924584_lkx5ciai2", + "x": 0.42971887550200805, + "y": 0.00535475234270415, + "width": 0.359437751004016, + "height": 0.4390896921017403 + } + ] + } + } + }, + { + "action_description": "张开爪夹。", + "correction_plan": "爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手。随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。最后张开爪夹电饭煲落在了垫子上。", + "error_success_analysis": "爪夹张开，电饭煲落在垫子上。", + "frame": 581, + "progress": 95, + "progress_explanation": "爪夹张开，电饭煲落在垫子上。因此进度提升为95%。", + "state_description": "当前状态为爪夹张开，电饭煲落在垫子上。\n为完成把电饭煲放在垫子上的任务：爪夹向爪夹的前下方向移动至电饭煲把手旁边，合拢爪夹夹取电饭煲把手，随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。", + "time": 19.380840228632476, + "annotations": { + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748552_1772007941716_dk95exoo1", + "x": 0.4477911646586345, + "y": 0.10977242302543508, + "width": 0.3313253012048193, + "height": 0.5113788487282463 + } + ] + }, + "bbox_1771998748725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748725_1772007952303_frsnj7bud", + "x": 0.30722891566265054, + "y": 0.32396251673360105, + "width": 0.3835341365461848, + "height": 0.37751004016064255 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的前下方移动。", + "correction_plan": "合拢爪夹夹取电饭煲把手，随后爪夹向爪夹的后方移动至垫子的上方，爪夹垂直下落将电饭煲放到垫子上。最后张开爪夹电饭煲落在了垫子上。", + "error_success_analysis": "爪夹张开，位于电饭煲把手旁边。", + "frame": 643, + 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"time": 24.605768942307694, + "annotations": { + "bbox_1771998748725": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748725_1772008011909_m70ktgbap", + "x": 0.28714859437751006, + "y": 0.3534136546184739, + "width": 0.41365461847389556, + "height": 0.3534136546184739 + } + ] + }, + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771998748552_1772008019633_n5sktpn8t", + "x": 0.3714859437751004, + "y": 0.0963855421686747, + "width": 0.3333333333333333, + "height": 0.4390896921017403 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹的下方移动。", + "correction_plan": "张开爪夹电饭煲落在了垫子上。", + "error_success_analysis": "爪夹合拢，夹取电饭煲放在垫子上。", + "frame": 782, + "progress": 80, + "progress_explanation": "爪夹合拢，夹取电饭煲放在垫子上。因此进度提升为80%。", + "state_description": "当前状态为爪夹合拢，夹取电饭煲放在垫子上。\n为完成把电饭煲放在垫子上的任务张开爪夹电饭煲落在了垫子上。", + "time": 26.06388858333333, + "annotations": { + "bbox_1771998748552": { + "type": "bbox", + "instances": [ + { + "id": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-180238-put-yellow-corn-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..c406e81659a80d454948952e12ec3eec07bae646 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260130-songjiaqi/20260130-180238-put-yellow-corn-white-rice cooker-mix/annotations/chunk-000/observation.images.wrist/episode_000006.json @@ -0,0 +1,710 @@ +{ + "task_description": "把玉米放进电饭锅里\n爪夹未开始移动0%\n爪夹靠近玉米20%\n爪夹抓取玉米40%\n爪夹抓住玉米靠近电饭锅60%\n爪夹将玉米放入电饭锅80%\n爪夹松开，玉米落入电饭锅100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹的上方移动，随后爪夹向爪夹下方移动，接着爪夹向爪夹的前下方向移动至爪夹紧挨桌面后合拢爪夹，爪夹夹取桌垫之后张开爪夹。随后爪夹向爪夹的上方移动至玉米上方，接着爪夹垂直落下至玉米旁边合拢爪夹夹取玉米，夹取玉米抬升至空中后爪夹向爪夹的前上方移动至电饭锅的上方，最后爪夹垂直下落玉米落入电饭锅中，张开爪夹玉米落入电饭锅中。", + "error_success_analysis": "", + "frame": 77, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹未开始移动。因此进度为0%。", + "state_description": "当前状态为初始状态，爪夹张开远离玉米，未开始移动。\n为完成把玉米放进电饭锅里的任务：爪夹向爪夹的上方移动，随后爪夹向爪夹下方移动接着爪夹向爪夹的前下方向移动至爪夹紧挨桌面后合拢爪夹。", + "time": 2.562108213675214, + "annotations": { + "point_1771990149379": { + "type": "point", + "instances": [ + { + "id": "point_1771990149379_1772008472555_7toi70rcf", + "x": 0.357429718875502, + "y": 0.5970548862115127 + } + ] + }, + "point_1771990149604": { + "type": "point", + "instances": [ + { + "id": "point_1771990149604_1772008474718_fd1pbp6me", + "x": 0.6506024096385542, + "y": 0.6372155287817939 + } + ] + }, + "bbox_1771990147502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771990147502_1772008478990_2q0py9nxy", + "x": 0.6606425702811245, + "y": 0.5140562248995983, + "width": 0.10040160642570281, + "height": 0.06425702811244977 + } + ] + }, + "bbox_1771990147705": { + "type": "bbox", + "instances": [ + { + "id": 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}, + { + "action_description": "爪夹合拢。", + "correction_plan": "夹取玉米抬升空中后爪夹向爪夹的前上方移动至电饭锅的上方，爪夹垂直下落玉米落入电饭锅中，张开爪夹玉米落入电饭锅中。", + "error_success_analysis": "爪夹合拢夹取了玉米。", + "frame": 346, + "progress": 40, + "progress_explanation": "爪夹合拢夹取了玉米。因此进度提升为40%。", + "state_description": "当前状态为爪夹合拢，夹取了玉米。\n为完成把玉米放进电饭锅里的任务：夹取玉米抬升空中后爪夹向爪夹的前上方移动至电饭锅的上方，爪夹垂直下落玉米落入电饭锅中，张开爪夹玉米落入电饭锅中。", + "time": 11.535462, + "annotations": { + "bbox_1771990147502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771990147502_1772008686987_zqehi88cd", + "x": 0.4257028112449799, + "y": 0.3105756358768407, + "width": 0.20080321285140562, + "height": 0.4096385542168674 + } + ] + }, + "point_1771990149379": { + "type": "point", + "instances": [ + { + "id": "point_1771990149379_1772008693294_u67pwjcas", + "x": 0.3895582329317269, + "y": 0.6024096385542169 + } + ] + }, + "point_1771990149604": { + "type": "point", + "instances": [ + { + "id": "point_1771990149604_1772008695435_ieu9f3b2j", + "x": 0.6445783132530121, + "y": 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+ "progress_explanation": "爪夹松开，玉米落入电饭锅。因此进度提升为100%", + "state_description": "当前状态为爪夹张开，玉米落入电饭锅里。", + "time": 15.652496, + "annotations": { + "point_1771990149604": { + "type": "point", + "instances": [ + { + "id": "point_1771990149604_1772008806288_e4by2wv0q", + "x": 0.6485943775100401, + "y": 0.6211512717536815 + } + ] + }, + "point_1771990149379": { + "type": "point", + "instances": [ + { + "id": "point_1771990149379_1772008808705_oao5tzrlc", + "x": 0.37751004016064255, + "y": 0.5997322623828648 + } + ] + }, + "bbox_1771990147502": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771990147502_1772008813957_bry2wkkvx", + "x": 0.5923694779116466, + "y": 0.30254350736278446, + "width": 0.08232931726907636, + "height": 0.179384203480589 + } + ] + }, + "bbox_1771990147705": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771990147705_1772008828930_vzmwbpxov", + "x": 0.39759036144578314, + "y": 0, + "width": 0.4658634538152612, + "height": 0.639892904953146 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1771990147502", + "name": "玉米" + }, + { + "color": "#FF9800", + "id": "bbox_1771990147705", + "name": "电饭锅" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1771990149379", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1771990149604", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..6d6fd1b10a177931ad7a66a13c0b2b274aa989f0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-guoyijia/20260131-105227-take-ternip-out-of-rice-cooker-and-put-it-in-blue-box-mix/annotations/chunk-000/observation.images.front/episode_000008.json @@ -0,0 +1,794 @@ +{ + "task_description": "抓取电饭煲中的芜菁放进蓝色盒子里：\n开始准备移动：0%\n爪夹靠近电饭煲：20%\n爪夹抓取芜菁：40%\n爪夹抓紧芜菁接近蓝色盒子：60%\n爪夹抓紧芜菁移动到蓝色盒子上方：80%\n爪夹松开芜菁落入蓝色盒子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770617051349": { + "instances": [ + { + "height": 0.22266664854600837, + "id": "bbox_1770617051349_1770617093988_sbnspi99s", + "width": 0.11999999267578172, + "x": 0.14766661696370745, + "y": 0.16820368097300775 + } + ], + "type": "bbox" + }, + "bbox_1770617063796": { + "instances": [ + { + "height": 0.43466663129340577, + "id": "bbox_1770617063796_1770617108588_pqedtma5l", + "width": 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"当前为初始状态，爪夹张开，远离胡萝卜，未开始移动。\n为完成抓取蓝碗里的胡萝卜放进黄色箱子里的任务应当：爪夹向爪夹右前方的蓝碗移动，同时调整爪夹的角度使其垂直于桌面，并移动到蓝碗的正上方。", + "time": 0.8125515463917526, + "annotations": { + "bbox_1770701688258": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701688258_1770701751305_apepz4iak", + "x": 0.680666584431971, + "y": 0.2160555371252004, + "width": 0.10499999359130907, + "height": 0.11199999088541744 + } + ] + }, + "bbox_1770701703738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701703738_1770701767329_bdn37rl26", + "x": 0.2966666078694697, + "y": 0.11072221236391502, + "width": 0.2049999874877937, + "height": 0.2586666456163212 + } + ] + }, + "point_1770701714554": { + "type": "point", + "instances": [ + { + "id": "point_1770701714554_1770701810960_f834na7om", + "x": 0.41466660066732175, + "y": 0.4850925508550984 + } + ] + }, + "point_1770701722793": { + "type": "point", + "instances": [ + { + "id": "point_1770701722793_1770701813071_bzi7oq1zw", + "x": 0.6446665866292366, + "y": 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"爪夹角度接近垂直于桌面，爪夹靠近了胡萝卜，爪夹合拢抓取到了胡萝卜。", + "frame": 180, + "progress": 40, + "progress_explanation": "爪夹角度接近垂直于桌面，爪夹合拢抓取到胡萝卜。因此进度提升为 40%。", + "state_description": "爪夹角度接近垂直于桌面，爪夹合拢抓取胡萝卜。\n为完成抓取蓝碗里的胡萝卜放进黄色箱子里的任务应当：抓紧胡萝卜垂直升高爪夹并向爪夹左方的黄色箱子接近。", + "time": 6, + "annotations": { + "bbox_1770701688258": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701688258_1770702887524_qvzx4mvw7", + "x": 0.40966660097249746, + "y": 0.2868703379825571, + "width": 0.20999998718261798, + "height": 0.4106666332465305 + } + ] + }, + "bbox_1770701703738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701703738_1770702911850_r2h81ztra", + "x": 0.01266662520345305, + "y": 0.26287033993568193, + "width": 0.20999998718261798, + "height": 0.5759999531250037 + } + ] + }, + "point_1770701714554": { + "type": "point", + "instances": [ + { + "id": "point_1770701714554_1770702929385_8ata1d8v1", + "x": 0.4756665969441774, + "y": 0.4882036549313432 + } + ] + }, + "point_1770701722793": { + "type": 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"爪夹合拢夹紧胡萝卜，水平上未接近黄色箱子。\n为完成抓取蓝碗里的胡萝卜放进黄色箱子里的任务应当：爪夹向爪夹左前方的黄色箱子移动，同时调整爪夹的角度使其垂直于桌面，并移动到黄色箱子的正上方。", + "time": 14.38863402061856, + "annotations": { + "bbox_1770701688258": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701688258_1770704798125_x8ivcva71", + "x": 0.45766659804281007, + "y": 0.22553700964054285, + "width": 0.16399998999023513, + "height": 0.519999957682295 + } + ] + }, + "bbox_1770701703738": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770701703738_1770704815284_sf4fmqksm", + "x": 0.13566661769612928, + "y": 0.009537027218666413, + "width": 0.27199998339843845, + "height": 0.5306666234809064 + } + ] + }, + "point_1770701714554": { + "type": "point", + "instances": [ + { + "id": "point_1770701714554_1770704828572_b2ijerz4z", + "x": 0.4776665968221071, + "y": 0.49220365460582244 + } + ] + }, + "point_1770701722793": { + "type": "point", + "instances": [ + { + "id": "point_1770701722793_1770704830988_b3o76f3g7", + "x": 0.5786665906575567, + "y": 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"黄色箱子", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770701714554", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770701722793", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-lilingchu/20260131-153945-potato-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.right/episode_000001.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-lilingchu/20260131-153945-potato-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.right/episode_000001.json new file mode 100644 index 0000000000000000000000000000000000000000..bed48591e75cafd84012cee339e9e4b2e8848cd9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-lilingchu/20260131-153945-potato-blue plastic bowl-yellow basket-mix/annotations/chunk-000/observation.images.right/episode_000001.json @@ -0,0 +1,782 @@ +{ + "task_description": "抓取蓝碗里的土豆放进黄色箱子里：\n开始准备移动：0%\n爪夹靠近蓝碗：20%\n爪夹抓取土豆：40%\n爪夹抓紧土豆接近黄色箱子：60%\n爪夹抓紧土豆移动到黄色箱子上方：80%\n爪夹松开土豆落入黄色箱子：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770707001303": { + "instances": [ + { + "height": 0.5013332925347255, + "id": "bbox_1770707001303_1770707094221_plb3pj9fq", + "width": 0.4009999755249039, + "x": 0.5936665897420295, + "y": 0.1332407118130931 + } + ], + "type": "bbox" + }, + "point_1770707011246": { + "instances": [ + { + "id": "point_1770707011246_1770707055302_fwzbpx0ak", + "x": 0.3776666029256223, + "y": 0.3252406961880944 + } + ], + "type": "point" + }, + "point_1770707017079": { + "instances": [ + { + "id": "point_1770707017079_1770707057686_27d5ebigy", + "x": 0.48766659621175557, + "y": 0.35724069358392796 + } + ], + "type": "point" + } + }, + "correction_plan": 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newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..718d9ce7a8e88654dbfe8adc587ea7f9754ed777 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260131-songjiaqi/20260131-173217-put-bananas-table-mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,546 @@ +{ + "task_description": "抓取电饭煲里的香蕉放到电饭煲前的桌子上：\n开始准备移动：0%\n爪夹靠近电饭煲：20%\n爪夹抓取香蕉：40%\n爪夹抓紧香蕉接近电饭煲前的桌子：60%\n爪夹抓紧香蕉移动到电饭煲前的桌子上方：80%\n爪夹松开香蕉落在电饭煲前的桌子上：100%", + "progress_points": [ + { + 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+ "frame": 510, + "progress": 100, + "progress_explanation": "爪夹张开，红辣椒落入电饭锅，任务完成。因此进度提升为 100%。", + "state_description": "爪夹张开。\n爪夹松开红辣椒落入电饭锅的任务目标完成。", + "time": 16.998440000729527, + "annotations": { + "bbox_1770884503704": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770884503704_1770889829989_tid6oiovm", + "x": 0.5106665948079471, + "y": 0.061833318128798984, + "width": 0.04599999719238292, + "height": 0.20533331662326532 + } + ] + }, + "bbox_1770884509489": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770884509489_1770889841886_46ht011xt", + "x": 0.4186666004231811, + "y": -0.0008333434380417124, + "width": 0.2519999846191416, + "height": 0.45199996321614877 + } + ] + }, + "point_1770884526088": { + "type": "point", + "instances": [ + { + "id": "point_1770884526088_1770889851613_c1hr1d9sd", + "x": 0.5756665908406621, + "y": 0.12983331259494527 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770884503704", + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-133933-put-red-chili peppers-yellow-right of the corn-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,700 @@ +{ + "task_description": "抓取电饭锅里的红辣椒放在玉米右侧桌子上：\n开始准备移动：0%\n爪夹靠近电饭锅：20%\n爪夹抓取红辣椒：40%\n爪夹抓紧红辣椒接近玉米右侧桌子：60%\n爪夹抓紧红辣椒移动到玉米右侧桌子上方：80%\n爪夹松开红辣椒落在玉米右侧桌子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的电饭锅移动，同时调整爪夹的角度使其垂直于桌面，并移动到电饭锅的正上方。接着落下爪夹靠近红辣椒，接近红辣椒后爪夹合拢抓取红辣椒。抓紧红辣椒垂直升高爪夹并向爪夹右后方的玉米右侧桌子接近，水平到达玉米右侧桌子的正上方后松开爪夹，使红辣椒落在玉米右侧桌子上。", + "error_success_analysis": "无", + "frame": 30, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离红辣椒，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离红辣椒，未开始移动。\n为完成抓取电饭锅里的红辣椒放在玉米右侧桌子上的任务应当：爪夹向爪夹右前方的电饭锅移动，同时调整爪夹的角度使其垂直于桌面，并移动到电饭锅的正上方。", + "time": 0.996047262853421, + "annotations": { + "bbox_1770890943694": { + "type": "bbox", + "instances": [ + { + 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-135956-put-riice cooker pot-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-135956-put-riice cooker pot-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..b4817caabd2547819025a0b97cedb48255d99678 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-135956-put-riice cooker pot-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000000.json @@ -0,0 +1,578 @@ +{ + "task_description": "抓取电饭煲放到垫子上：\n准备开始移动：0%\n爪夹靠近电饭煲：20%\n爪夹抓取电饭煲：40%\n爪夹抓紧电饭煲接近垫子：60%\n爪夹抓紧电饭煲移动到垫子上方：80%\n爪夹松开电饭煲落在垫子上：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "爪夹向爪夹右前方的电饭煲移动，同时调整爪夹的角度使其垂直于桌面，并移动到电饭煲边缘的正上方。接着落下爪夹靠近电饭煲，接近电饭煲后爪夹合拢抓取电饭煲。抓紧电饭煲垂直升高爪夹并向爪夹右前方的垫子接近，水平到达垫子的正上方后松开爪夹，使电饭煲落在垫子上。", + "error_success_analysis": "无", + "frame": 44, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹张开，远离黄色方块，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离黄色方块，未开始移动。\n为完成抓取黄色方块插入相应的孔洞使其落入铁盒的任务应当：爪夹向爪夹右前方的电饭煲移动，同时调整爪夹的角度使其垂直于桌面，并移动到电饭煲边缘的正上方。", + "time": 1.4777877576030929, + "annotations": { + "bbox_1770950522721": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770950522721_1770950557512_id8joaeay", + "x": 0.6046665890706426, + "y": 0.6882036386553029, + "width": 0.19099998834228593, + "height": 0.234666647569446 + } + ] + }, + "bbox_1770950528441": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770950528441_1770950573241_cmbx95i6u", + "x": 0.5466665926106815, + "y": 0.5788703142195382, + "width": 0.2239999863281259, + "height": 0.2493333130425364 + } + ] + }, + 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No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-172311-put-white-radish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-172311-put-white-radish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..975c59d78ffc4f890b5a817ad12747c73459ada2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260201-songjiaqi/20260201-172311-put-white-radish-white-rice cooker-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,490 @@ +{ + "task_description": 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"爪夹角度接近垂直于桌面，爪夹合拢抓取白萝卜。\n为完成抓取白萝卜放入电饭煲里的任务应当：抓紧白萝卜垂直升高爪夹并向爪夹左前方的电饭煲接近。", + "time": 8.968492268041237, + "annotations": { + "bbox_1770967712291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770967712291_1770970626001_m4xszyydh", + "x": 0.213375, + "y": 0.009197916666666663, + "width": 0.308, + "height": 0.5893333333333334 + } + ] + }, + "point_1770967725243": { + "type": "point", + "instances": [ + { + "id": "point_1770967725243_1770970657408_k9twl2w3l", + "x": 0.756375, + "y": 0.5411979166666666 + } + ] + }, + "bbox_1770967706834": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770967706834_1770970662128_li8ra0d1t", + "x": 0.655375, + "y": 0.4291979166666666, + "width": 0.08999999999999994, + "height": 0.29200000000000004 + } + ] + } + } + }, + { + "action_description": "爪夹夹紧白萝卜，垂直升高，向爪夹左前方移动。", + "correction_plan": "继续向爪夹左前方的电饭煲接近，水平到达电饭煲的正上方后松开爪夹，使白萝卜落入电饭煲。", + "error_success_analysis": "爪夹合拢继续夹紧白萝卜，水平上接近了电饭煲。更加方便接近电饭煲。", + "frame": 307, + "progress": 60, + 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"correction_plan": "松开爪夹，使白萝卜落入电饭煲。", + "error_success_analysis": "爪夹移动到了电饭煲正上方。", + "frame": 335, + "progress": 80, + "progress_explanation": "爪夹夹紧白萝卜，到了爪夹左前方的电饭煲正上方。因此进度提升为 80%。", + "state_description": "爪夹夹紧白萝卜，位于电饭煲正上方。\n为完成抓取白萝卜放入电饭煲里的任务应当：松开爪夹，使白萝卜落入电饭煲。", + "time": 11.179998755386276, + "annotations": { + "bbox_1770967706834": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770967706834_1770971177145_g7zrpvlnu", + "x": 0.287375, + "y": 0.08919791666666667, + "width": 0.06800000000000002, + "height": 0.228 + } + ] + }, + "bbox_1770967712291": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770967712291_1770971186926_dyqryst6v", + "x": 0.20437500000000003, + "y": 0.0038645833333333266, + "width": 0.3189999999999999, + "height": 0.6106666666666669 + } + ] + }, + "point_1770967725243": { + "type": "point", + "instances": [ + { + "id": "point_1770967725243_1770971206350_kd4yh63ng", + "x": 0.381375, + "y": 0.09053125 + } + ] + } + } + }, + { + "action_description": 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"bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770967706834", + "name": "白萝卜" + }, + { + "color": "#FF9800", + "id": "bbox_1770967712291", + "name": "电饭煲" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770967718543", + "name": "爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770967725243", + "name": "爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json new file mode 100644 index 0000000000000000000000000000000000000000..d9489cddf56a7b5f923d37981bb079f907eddce2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-101020-put-packaging box-green-mat-mix/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,496 @@ +{ + "task_description": "把包装盒放到绿色垫子上\n准备开始移动：0%\n爪夹靠近包装盒：20%\n爪夹抓取包装盒：40%\n爪夹抓紧包装盒接近绿色垫子：60%\n爪夹松开，包装盒落在绿色垫子上：80%\n爪夹远离绿色垫子：100%", + "progress_points": [ + { + "time": 1.633866, + "frame": 49, + "progress": 0, + "action_description": "爪夹张开，未开始移动。", + "state_description": "当前为初始状态，爪夹张开，远离包装盒，未开始移动。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹向爪夹右下方的包装盒移动，同时调整爪夹的角度，并移动到包装盒的正上方。", + "progress_explanation": "当前为初始状态，远离包装盒，未开始移动。进度 0%。", + "error_success_analysis": "", + "correction_plan": "爪夹向爪夹右下方的包装盒移动，同时调整爪夹的角度，并移动到包装盒的正上方。接着落下爪夹靠近包装盒，接近包装盒后爪夹合拢抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781086375_0xhgukf2h", + "x": 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"爪夹向爪夹右下方的包装盒移动，同时调整爪夹的角度，并移动到包装盒的正上方。接着落下爪夹靠近包装盒，接近包装盒后爪夹合拢抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781113751_aya57ze78", + "x": 0.41433331298828124, + "y": 0.4231111043294271, + "width": 0.09500000000000001, + "height": 0.26400000000000007 + } + ] + }, + "bbox_1770778237717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778237717_1770781122543_j6v9q2z36", + "x": 0.5873333129882813, + "y": 0.3115555419921875, + "width": 0.392, + "height": 0.3773333333333334 + } + ] + } + } + }, + { + "time": 3.834558671402261, + "frame": 115, + "progress": 20, + "action_description": "爪夹向爪夹前方移动。", + "state_description": "爪夹向爪夹前方移动，靠近了包装盒。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹合拢抓取包装盒。", + "progress_explanation": "爪夹向爪夹前方移动，靠近了包装盒。因此进度提升为20%。", + "error_success_analysis": "爪夹向爪夹前方移动，靠近了包装盒。", + "correction_plan": "爪夹合拢抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781130423_zov56kml4", + "x": 0.43733331298828126, + "y": 0.5017777709960938, + "width": 0.16699999999999998, + "height": 0.1973333333333334 + } + ] + }, + "bbox_1770778237717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778237717_1770781141710_h9erxjll8", + "x": 0.5863333129882813, + "y": 0.31555554199218755, + "width": 0.39399999999999996, + "height": 0.37333333333333335 + } + ] + } + } + }, + { + "time": 4.7724624683094765, + "frame": 143, + "progress": 30, + "action_description": "爪夹合拢。", + "state_description": "爪夹合拢，未抓取到包装盒。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹调整，重新抓取包装盒。", + "progress_explanation": "爪夹合拢，未抓取到包装盒。因此进度提升为30%。", + "error_success_analysis": "爪夹合拢，未抓取到包装盒。", + "correction_plan": "调整爪夹重新抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781152933_9tbfaqkia", + "x": 0.4473333129882812, + "y": 0.5124444376627604, + "width": 0.17300000000000004, + "height": 0.2133333333333333 + } + ] + }, + "bbox_1770778237717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778237717_1770781163622_1r5lrny81", + "x": 0.5833333129882812, + "y": 0.31288887532552084, + "width": 0.398, + "height": 0.3706666666666667 + } + ] + } + } + }, + { + "time": 6.312666, + "frame": 189, + "progress": 5, + "action_description": "爪夹张开，然后向爪夹后方移动。", + "state_description": "爪夹张开，然后向爪夹后方移动。远离了包装盒。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹调整，重新抓取包装盒。", + "progress_explanation": "爪夹张开，然后向爪夹后方移动。远离了包装盒。因此进度降低为5%。", + "error_success_analysis": "爪夹张开，然后向爪夹后方移动。远离了包装盒。", + "correction_plan": "调整爪夹重新抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781175718_4r3vu3ihd", + "x": 0.4443333129882812, + "y": 0.5124444376627604, + "width": 0.17600000000000007, + "height": 0.2146666666666667 + } + ] + }, + "bbox_1770778237717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778237717_1770781186062_86d7vzop8", + "x": 0.5833333129882813, + "y": 0.31155554199218755, + "width": 0.39799999999999996, + "height": 0.3733333333333333 + } + ] + } + } + }, + { + "time": 7.758441903361023, + "frame": 233, + "progress": 10, + "action_description": "爪夹向爪夹右下方移动。", + "state_description": "爪夹向爪夹右下方移动，垂直上接近了包装盒。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹调整，重新抓取包装盒。", + "progress_explanation": "爪夹向爪夹右下方移动，垂直上接近了包装盒。因此进度提升为10%。", + "error_success_analysis": "爪夹向爪夹右下方移动，垂直上接近了包装盒。", + "correction_plan": "调整爪夹重新抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + "annotations": { + "bbox_1770778231101": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778231101_1770781200029_1cs2pds7n", + "x": 0.4593333129882812, + "y": 0.5164444376627605, + "width": 0.16100000000000012, + "height": 0.11199999999999997 + } + ] + }, + "bbox_1770778237717": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770778237717_1770781210765_gmvfuvbmv", + "x": 0.5853333129882812, + "y": 0.31422220865885414, + "width": 0.395, + "height": 0.37466666666666676 + } + ] + } + } + }, + { + "time": 9.394733, + "frame": 282, + "progress": 15, + "action_description": "爪夹向右旋转。", + "state_description": "爪夹向右旋转，调整角度，方便抓取。\n为完成把包装盒放到绿色垫子上的任务应当：爪夹调整，重新抓取包装盒。", + "progress_explanation": "爪夹向右旋转，调整角度，方便抓取。因此进度提升为15%。", + "error_success_analysis": "爪夹向右旋转，调整角度，方便抓取。", + "correction_plan": "调整爪夹重新抓取包装盒。抓紧包装盒垂直升高爪夹并向爪夹右前方的绿色垫子接近，水平到达绿色垫子的正上方后松开爪夹，使包装盒落在绿色垫子上，然后爪夹向爪夹后上方移动，远离绿色垫子。", + 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{ + "id": "point_1770778258379", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..20ad6ef0b711cd4087d4b3bba8704624afac1e31 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-critic/20260202-songjiaqi/20260202-105011-put-black brush set-green-mat-mix/annotations/chunk-000/observation.images.wrist/episode_000005.json @@ -0,0 +1,702 @@ +{ + "task_description": 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0.5204444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹向爪夹右边移动。", + "correction_plan": "爪夹合拢垂直向下移动，靠近紧急按钮。接着按下按钮。爪夹垂直升高远离紧急按钮，爪夹张开，回到初始位置。", + "error_success_analysis": "爪夹向爪夹右边移动，来到紧急按钮正上方，更加方便接近紧急按钮。", + "frame": 190, + "progress": 15, + "progress_explanation": "爪夹向爪夹右边移动，来到紧急按钮正上方，更加方便接近紧急按钮。因此进度提升为15%。", + "state_description": "爪夹向爪夹右边移动，来到紧急按钮正上方，更加方便接近紧急按钮。\n为完成按下紧急按钮的任务应当：爪夹合拢垂直向下移动，靠近紧急按钮。", + "time": 6.3467807522063895, + "annotations": { + "bbox_1770709582532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770709582532_1770709695409_2aicrg7gr", + "x": 0.4943333129882812, + "y": 0.34400000000000003, + "width": 0.18100000000000005, + "height": 0.2426666666666667 + } + ] + }, + "point_1770709588891": { + "type": "point", + "instances": [ + { + "id": "point_1770709588891_1770709702026_w0v6yiqgx", + "x": 0.4153333129882813, + "y": 0.5111111043294271 + } + ] + }, + "point_1770709595100": { + "type": "point", + "instances": [ + { + "id": 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"爪夹张开，同时向爪夹左边移动。到达紧急按钮正上方。更加方便接近紧急按钮。", + "frame": 269, + "progress": 10, + "progress_explanation": "爪夹张开，同时向爪夹左边移动。到达紧急按钮正上方。更加方便接近紧急按钮。因此进度提升为10%。", + "state_description": "爪夹张开，同时向爪夹左边移动。到达紧急按钮正上方。\n为完成按下紧急按钮的任务应当：爪夹合拢垂直向下移动，靠近紧急按钮。", + "time": 8.978266, + "annotations": { + "bbox_1770709582532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770709582532_1770709725129_90gh5b5qb", + "x": 0.42833331298828126, + "y": 0.47200000000000003, + "width": 0.13599999999999995, + "height": 0.184 + } + ] + }, + "point_1770709588891": { + "type": "point", + "instances": [ + { + "id": "point_1770709588891_1770709731984_aiik9wo2a", + "x": 0.3973333129882813, + "y": 0.5151111043294271 + } + ] + }, + "point_1770709595100": { + "type": "point", + "instances": [ + { + "id": "point_1770709595100_1770709734600_tce0303kq", + "x": 0.6213333129882812, + "y": 0.5204444376627604 + } + ] + } + } + }, + { + "action_description": "爪夹合拢垂直向下移动。", + "correction_plan": "爪夹合拢按下按钮。爪夹垂直升高远离紧急按钮，爪夹张开，回到初始位置。\n", + "error_success_analysis": "爪夹合拢垂直向下移动，靠近了紧急按钮。", + "frame": 335, + "progress": 25, + "progress_explanation": "爪夹合拢垂直向下移动，靠近了紧急按钮。因此进度提升为25%。", + "state_description": "爪夹合拢垂直向下移动，靠近了紧急按钮。\n为完成按下紧急按钮的任务应当：爪夹合拢按下按钮。", + "time": 11.150904360453811, + "annotations": { + "bbox_1770709582532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770709582532_1770709741400_7mqrjdnnp", + "x": 0.4113333129882813, + "y": 0.328, + "width": 0.21399999999999997, + "height": 0.26533333333333337 + } + ] + } + } + }, + { + "action_description": "爪夹垂直向下移动。", + "correction_plan": "爪夹垂直升高远离紧急按钮，爪夹张开，回到初始位置。\n", + "error_success_analysis": "爪夹合拢垂直向下移动，成功按下紧急按钮。", + "frame": 394, + "progress": 50, + "progress_explanation": "爪夹合拢垂直向下移动，成功按下紧急按钮。因此进度提升为50%。", + "state_description": "爪夹合拢垂直向下移动，成功按下紧急按钮。\n为完成按下紧急按钮的任务应当：爪夹垂直升高远离紧急按钮，爪夹张开，回到初始位置。\n", + "time": 13.136608785196078, + "annotations": { + "bbox_1770709582532": { + "type": "bbox", + "instances": [ + { + 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"爪夹张开，同时向爪夹左边移动，回到初始位置。\n按下紧急按钮的任务完成。因此进度提升为100%。", + "state_description": "爪夹张开，同时向爪夹左边移动，回到初始位置。\n按下紧急按钮的任务完成。", + "time": 15.533333, + "annotations": { + "bbox_1770709582532": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770709582532_1770709770720_p4bl53t28", + "x": 0.5743333129882812, + "y": 0.3226666666666667, + "width": 0.12100000000000008, + "height": 0.16266666666666663 + } + ] + }, + "point_1770709588891": { + "type": "point", + "instances": [ + { + "id": "point_1770709588891_1770709777231_qeramkczf", + "x": 0.3993333129882813, + "y": 0.5191111043294271 + } + ] + }, + "point_1770709595100": { + "type": "point", + "instances": [ + { + "id": "point_1770709595100_1770709779815_xdwj6entt", + "x": 0.6173333129882812, + "y": 0.5191111043294271 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770709582532", + "name": "紧急按钮", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1770709588891", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770709595100", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-policy/20260123-chemical-experiment-yuanshuaijun/20260123-094237-chemical-experiment-mix1/annotations/chunk-000/observation.images.left/episode_000028.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-policy/20260123-chemical-experiment-yuanshuaijun/20260123-094237-chemical-experiment-mix1/annotations/chunk-000/observation.images.left/episode_000028.json new file mode 100644 index 0000000000000000000000000000000000000000..6e4bdd581ecce015012110b22ea6e5bc578de636 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/human-data-0203-policy/20260123-chemical-experiment-yuanshuaijun/20260123-094237-chemical-experiment-mix1/annotations/chunk-000/observation.images.left/episode_000028.json @@ -0,0 +1,798 @@ +{ + "task_description": "把滴管中的溶液滴入试管中。\n准备开始移动：0%\n爪夹靠近滴管：20%\n爪夹合拢抓取滴管：40%\n爪夹抓紧滴管接近试管：60%\n爪夹将溶液滴入试管：80%\n爪夹松开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "annotations": { + "bbox_1770685897634": { + "instances": [ + { + "height": 0.16133333333333327, + "id": "bbox_1770685897634_1770691243319_3pgf85f24", + "width": 0.04900000000000002, + "x": 0.5203333129882812, + "y": 0.396 + } + ], + "type": "bbox" + }, + "bbox_1770685904985": { + "instances": [ + { + "height": 0.21866666666666662, + "id": "bbox_1770685904985_1770691254231_xluuu353k", + "width": 0.04699999999999989, + "x": 0.8333333129882814, + "y": 0.06711110432942707 + } + ], + "type": "bbox" + }, + "point_1770685910505": { + "instances": [ + { + "id": "point_1770685910505_1770691265238_eqchihlu6", + "x": 0.7953333129882812, + "y": 0.46577777099609374 + } + ], + "type": "point" + }, + "point_1770685916785": { + "instances": [ + { + "id": "point_1770685916785_1770691268006_wwp3rnwne", + "x": 0.8813333129882812, + "y": 0.4391111043294271 + } + ], + "type": "point" + } + }, + "correction_plan": "爪夹向爪夹左前方的滴管移动，同时调整爪夹的角度，并移动到滴管的正上方。接着落下爪夹靠近滴管，接近滴管后爪夹合拢抓取滴管。抓紧滴管垂直升高爪夹并向爪夹右前方的试管接近，水平到达试管的正上方后将滴管插入试管，挤压滴管使溶液滴入试管中。完成后，爪夹夹紧滴管向左后方的滴管瓶移动，将滴管插入滴管瓶，松开爪夹。", + "error_success_analysis": "", + "frame": 41, + "progress": 0, + "progress_explanation": "当前为初始状态，远离滴管，未开始移动。进度 0%。", + "state_description": "当前为初始状态，爪夹张开，远离滴管，未开始移动。\n为完成把滴管中的溶液滴入试管中的任务应当：爪夹向爪夹左前方的滴管移动，同时调整爪夹的角度，并移动到滴管的正上方。", + "time": 1.3586477837713813 + }, + { + "action_description": "爪夹垂直向上移动。", + "annotations": { + "bbox_1770685897634": { + "instances": [ + { + "height": 0.16133333333333327, + "id": "bbox_1770685897634_1770691277086_l2dkuu8mu", + "width": 0.050999999999999976, + "x": 0.5183333129882813, + "y": 0.396 + } + ], + "type": "bbox" + }, + "bbox_1770685904985": { + "instances": [ + { + "height": 0.11333333333333334, + "id": "bbox_1770685904985_1770691318197_pp0kid5jj", + "width": 0.03399999999999999, + "x": 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+ "progress": 95, + "progress_explanation": "爪夹夹紧滴管向爪夹左后方移动，同时向下移动。靠近了滴管瓶。因此进度提升为95%。", + "state_description": "爪夹夹紧滴管向爪夹左后方移动，同时向下移动。靠近了滴管瓶。\n为完成把滴管中的溶液滴入试管中的任务应当：爪夹将滴管插入滴管瓶，松开爪夹。\n", + "time": 24.549369716761078 + }, + { + "action_description": "爪夹垂直下移，然后松开。", + "annotations": { + "bbox_1770685897634": { + "instances": [ + { + "height": 0.092, + "id": "bbox_1770685897634_1770691691661_twupbsmii", + "width": 0.051999999999999956, + "x": 0.5113333129882813, + "y": 0.468 + } + ], + "type": "bbox" + }, + "bbox_1770685904985": { + "instances": [ + { + "height": 0.136, + "id": "bbox_1770685904985_1770691699693_8c23n8z4l", + "width": 0.03300000000000018, + "x": 0.8433333129882812, + "y": 0.07111110432942708 + } + ], + "type": "bbox" + }, + "point_1770685910505": { + "instances": [ + { + "id": "point_1770685910505_1770691706725_b1h20mpeh", + "x": 0.5203333129882812, + "y": 0.4617777709960938 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": 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index 0000000000000000000000000000000000000000..96f05ec29608a4ae3a60740748f3b3051b8f5219 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000002.json @@ -0,0 +1,2919 @@ +{ + "task_description": "用双臂将衣服对折，叠成方块，放在左上角。\n准备开始移动：0%\n左臂靠近并抓住下方衣袖：13%\n右臂靠近并抓住下方衣摆：15%\n左右臂向衣服中间移动完成第一次折叠：20%\n左臂松开靠近并抓住上方衣袖：26%\n右臂松开靠近并抓住上方衣摆：28%\n左右臂爪夹向爪夹的后方移动并下降松开爪夹完成第二次折叠：35%\n左臂松开靠近并抓住衣领处：40%\n双臂靠近衣服并将衣服摆正：57%\n左臂爪夹靠近并抓住衣摆左边一角：59%\n右臂靠近并合拢爪夹抓住衣摆右边一角：62%\n双臂合拢并向上向前移动，同时向爪夹的下方移动，随后松开左右臂爪夹，完成第三次折叠：70%\n左右臂离开：72%\n左臂靠近衣服左下角并合拢：76%\n右臂靠近衣服右下角并合拢：85%\n双臂合拢并向上抬起，并向前移动，同时向爪夹的下方移动，完成第四次折叠：90%\n左右臂离开：92%\n左臂向下抵住衣服：96%\n左臂保持抵住并向左臂左侧移动，移动到桌面左侧：98%\n左臂爪夹接着向爪夹的前方移动，将衣服移动到桌面左上角：99%\n左臂爪夹向爪夹的上方抬起离开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。", + "correction_plan": "左臂靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹，左臂爪夹抓住衣服下方衣袖并向左臂爪夹下方移动，左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "", + "frame": 108, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。", + "state_description": "当前爪夹张开，没有移动，没有接触衣服。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂靠近衣服下方衣袖，左臂移动到衣服下方衣袖处，并合拢左臂爪夹抓住衣服下方衣袖。", + "time": 3.6024, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432620012_nme6gnewd", + "x": 0.08349999999999999, + "y": 0.0013333333333333333, + "width": 0.819, + "height": 0.7906666666666667 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432628549_9pq26ksom", + "x": 0.1015, + "y": 0.064 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近衣服下方衣袖。", + "correction_plan": "左臂爪夹继续向爪夹的下方移动，左臂爪夹移动到衣服下方衣袖处，并合拢爪夹抓住衣服下方衣袖，左臂爪夹抓住衣服下方衣袖并向左臂爪夹下方移动，左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，在水平方向上接近衣服左下方衣袖。", + "frame": 133, + "progress": 1, + "progress_explanation": "当前左臂爪夹在水平方向上略微接近衣服左下方衣袖，因此进度提升至1%。", + "state_description": "当前左臂爪夹张开，在水平方向上接近衣服下方衣袖。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹继续向爪夹的下方移动，左臂爪夹移动到衣服下方衣袖处，并合拢爪夹抓住衣服下方衣袖。", + "time": 4.44680412371134, + "annotations": { + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432604349_qdz44r9u6", + "x": 0.2085, + "y": 0.41466666666666663 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432609373_1ipc8tz30", + "x": 0.0865, + "y": 0.0026666666666666666, + "width": 0.8230000000000001, + "height": 0.788 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹的下方移动，左臂爪夹移动到衣服下方衣袖处，并合拢爪夹抓住衣服下方衣袖。", + "correction_plan": "左臂爪夹保持合拢并向左臂爪夹下方移动，左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的下方移动，并合拢爪夹，成功抓住衣服下方衣袖。", + "frame": 162, + "progress": 2, + "progress_explanation": "当前爪夹合拢成功抓住衣服下方衣袖，因此进度提升至2%。", + "state_description": "当前爪夹合拢，已经抓住衣服下方衣袖。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹保持合拢并向左臂爪夹下方移动，左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处。", + "time": 5.4036, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432597541_r8wjv9ui8", + "x": 0.053500000000000006, + "y": 0.005333333333333333, + "width": 0.851, + "height": 0.8160000000000001 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432600853_usx9pp4fr", + "x": 0.17350000000000002, + "y": 0.4746666666666667 + } + ] + } + } + }, + { + "action_description": "左臂爪夹保持合拢并向左臂爪夹下方移动。", + "correction_plan": "左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹保持合拢并向左臂爪夹下方移动，左臂爪夹成功将衣服下方衣袖移动到桌面下方。", + "frame": 193, + "progress": 3, + "progress_explanation": "当前爪夹合拢，将衣服下方衣袖移动到桌面下方，因此进度提升至3%。", + "state_description": "当前爪夹合拢，在水平方向上垂直于桌面。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动。", + "time": 6.4464, + "annotations": { + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432585709_vneeh4sii", + "x": 0.1545, + "y": 0.7213333333333334 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432591381_n2mvsirh7", + "x": 0.0785, + "y": 0.005333333333333333, + "width": 0.8560000000000001, + "height": 0.9906666666666666 + } + ] + } + } + }, + { + "action_description": "左臂爪夹松开，并向爪夹的前方移动靠近衣领处。", + "correction_plan": "左臂爪夹向爪夹的前方移动，爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹松开，并向爪夹的前方移动靠近衣领处，爪夹在水平方向上成功接近衣领处。", + "frame": 218, + "progress": 4, + "progress_explanation": "当前爪夹在水平方向上接近衣领处，因此进度提升至4%。", + "state_description": "当前爪夹张开，在水平方向上接近衣领处。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起。", + "time": 7.281030927835052, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432570373_ersqwhl74", + "x": 0.0725, + "y": 0, + "width": 0.8610000000000001, + "height": 0.9866666666666667 + } + ] + }, + "point_1770428329441": { + "type": "point", + "instances": [ + { + "id": "point_1770428329441_1770432579925_erlkjk0ex", + "x": 0.0875, + "y": 0.6133333333333334 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432582293_dprtu6ch6", + "x": 0.1715, + "y": 0.656 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹的前方移动，爪夹移动到衣领处，并合拢爪夹抓住衣领处。", + "correction_plan": "左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂爪夹的后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的前方移动，爪夹移动到衣领处，并合拢爪夹，爪夹成功抓住衣领。", + "frame": 257, + "progress": 5, + "progress_explanation": "当前爪夹在水平方向上已经抓住衣领，因此进度提升至5%。", + "state_description": "当前爪夹合拢，已经抓住衣服衣领处。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起。", + "time": 8.551546391752577, + "annotations": { + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432560838_tjxvkjacf", + "x": 0.2305, + "y": 0.30400000000000005 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432565349_g4dyl9slq", + "x": 0.0625, + "y": 0.005333333333333333, + "width": 0.881, + "height": 0.9813333333333334 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢并向左边移动，随后松开左臂爪夹。", + "correction_plan": "左臂爪夹保持张开，向爪夹的后方移动，接着向爪夹的上方抬起，同时右臂爪夹向爪夹的下方移动，靠近衣摆下方一角，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹合拢并向左边移动，随后松开左臂爪夹，在水平方向上远离衣领处。", + "frame": 306, + "progress": 6, + "progress_explanation": "当前爪夹张开，并远离衣领处，因此进度提升至6%。", + "state_description": "当前爪夹张开，在水平方向上位于衣服衣领处的正上方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹保持张开，向爪夹的后方移动，接着向爪夹的上方抬起，同时右臂爪夹向爪夹的下方移动，靠近衣摆下方一角，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆。", + "time": 10.212989690721649, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432548757_jgjaw7cvt", + "x": 0.05750000000000001, + "y": 0.0026666666666666666, + "width": 0.8240000000000001, + "height": 0.9813333333333334 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432553317_qb3gmvgvh", + "x": 0.1565, + "y": 0.324 + } + ] + } + } + }, + { + "action_description": "左臂爪夹保持张开，向爪夹的后方移动，接着向爪夹的上方抬起，同时右臂爪夹向爪夹的下方移动，靠近衣摆下方一角。", + "correction_plan": "左臂爪夹继续向爪夹的上方抬起，右臂爪夹继续向爪夹的下方移动，并合拢爪夹抓住衣摆下方一角，向爪夹的右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方一角，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹抬起，同时右臂爪夹向爪夹的下方成功靠近衣摆下方一角。", + "frame": 353, + "progress": 7, + "progress_explanation": "当前右臂爪夹接近衣摆下方一角，因此近进度提升至7%。", + "state_description": "当前左臂爪夹离开，右臂爪夹在水平方向上接近衣摆下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹继续向爪夹的上方抬起，右臂爪夹继续向爪夹的下方移动，并合拢爪夹抓住衣摆下方一角，向爪夹的右上方移动，将衣服下方摊平。", + "time": 11.776701030927835, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432526102_46t1k6cfh", + "x": 0.9095000000000001, + "y": 0.4693333333333333 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432528254_atimyreix", + "x": 0.1025, + "y": 0.332 + } + ] + }, + "point_1770428329441": { + "type": "point", + "instances": [ + { + "id": "point_1770428329441_1770432530733_1hdvi8l8b", + "x": 0.0295, + "y": 0.336 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432539133_09csqblk2", + "x": 0.0615, + 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"右臂爪夹保持合拢并向爪夹的右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方一角，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹离开，右臂爪夹继续向爪夹的下方移动，并合拢爪夹，成功抓住衣摆下方一角。", + "frame": 418, + "progress": 8, + "progress_explanation": "当前右臂爪夹已经抓住衣摆下方一角，因此进度提升至8%。", + "state_description": "当前左臂爪夹离开，右臂爪夹已经抓住衣摆下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹保持合拢并向爪夹的右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方一角。", + "time": 13.9356, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432516637_mziohc0wn", + "x": 0.053500000000000006, + "y": 0.0026666666666666666, + "width": 0.853, + "height": 0.9893333333333334 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432519726_64sn7b33l", + "x": 0.0125, + "y": 0.05333333333333334 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432522262_nxzsff8sp", + "x": 0.8634999999999999, + "y": 0.7426666666666667 + } + ] + } + } + }, + { + "action_description": "右臂爪夹保持合拢并向爪夹的右上方移动，将衣服下方摊平，接着松开右臂爪夹。", + "correction_plan": "右臂爪夹张开，向爪夹的前方移动，靠近衣摆上方一角，并合拢爪夹抓住衣摆上方的一角，爪夹合拢并向爪夹的右上方移动，将衣服上侧摊平，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹保持合拢并向爪夹的右上方移动，成功将衣服下方摊平。", + "frame": 456, + "progress": 9, + "progress_explanation": "当前右臂爪夹成功将衣服下侧摊平，因此进度提升至9%。", + "state_description": "当前右臂爪夹松开，已经将衣服下侧摊平。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹张开，向爪夹的前方移动，靠近衣摆上方一角，并合拢爪夹抓住衣摆上方的一角，爪夹合拢并向爪夹的右上方移动，将衣服上侧摊平。", + "time": 15.197319587628865, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432500222_881zlumvb", + "x": 0.9215, + "y": 0.6373333333333334 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432503390_84a0b9m1u", + "x": 0.026500000000000003, + "y": 0.09866666666666667 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432509814_rn110mawz", + "x": 0.0635, + "y": 0.004, + "width": 0.891, + "height": 0.9893333333333333 + } + ] + } + } + }, + { + "action_description": "右臂爪夹张开，向爪夹的前方移动，靠近衣摆上方一角。", + "correction_plan": "右臂爪夹合拢，抓住衣摆上方一角，并向爪夹的右上方移动，将衣服上侧摊平，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹张开，向爪夹的前方移动，靠近衣摆上方一角，右臂爪夹成功移动到衣摆上方一角的正上方。", + "frame": 509, + "progress": 10, + "progress_explanation": "当前右臂爪夹已经移动到衣摆上方一角的正上方。因此进度提升至10%。", + "state_description": "当前右臂爪夹张开，在水平方向上位于衣摆上方一角的正上方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹合拢，抓住衣摆上方一角，并向爪夹的右上方移动，将衣服上侧摊平，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖。", + "time": 16.956494845360826, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432489838_4145bwviu", + "x": 0.0625, + "y": 0.0013333333333333333, + "width": 0.9019999999999999, + "height": 0.9920000000000001 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432492814_2w1h6fz51", + "x": 0.0655, + "y": 0.16533333333333333 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432495574_f22suj23p", + "x": 0.7735000000000001, + "y": 0.16133333333333333 + } + ] + } + } + }, + { + "action_description": "右臂爪夹合拢，抓住衣摆上方一角，并向爪夹的右上方移动，将衣服上侧部分摊平。", + "correction_plan": "右臂爪夹松开，并向右臂爪夹的后上方抬起，接着左臂爪夹向左臂爪夹的下方移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹合拢，抓住衣摆上方一角，并向爪夹的右上方移动，成功将衣服上侧部分摊平。", + "frame": 555, + "progress": 11, + "progress_explanation": "当前右臂爪夹合拢，已经将衣服上侧部分摊平，因此进度提升至11%。", + "state_description": "当前右臂爪夹合拢，在水平方向上位于衣摆上方一角的上方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹松开，并向右臂爪夹的后上方抬起，接着左臂爪夹向下移动，靠近下方衣袖。", + "time": 18.486, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432474358_cxnhokfk3", + "x": 0.7955, + "y": 0.12666666666666668 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432477030_e5tmxxgwx", + "x": 0.0645, + "y": 0.16533333333333333 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432483118_gra73cahj", + "x": 0.0625, + "y": 0.004, + "width": 0.914, + "height": 0.9866666666666666 + } + ] + } + } + }, + { + "action_description": "右臂爪夹松开，并向右臂爪夹的后上方抬起，接着左臂爪夹向左臂爪夹的下方移动，靠近下方衣袖。", + "correction_plan": "左臂爪夹继续向爪夹的下方移动，爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹松开，并向右臂爪夹的后上方抬起，接着左臂爪夹向下移动，左臂爪夹在水平方向上接近下方衣袖。", + "frame": 594, + "progress": 12, + "progress_explanation": "当前左臂爪夹在水平方向上接近下方衣袖，因此进度提升至12%。", + "state_description": "当前右臂离开，左臂爪夹在水平方向上接近下方衣袖。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹继续向爪夹的下方移动，爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角。", + "time": 19.8132, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432465558_sw9ackt91", + "x": 0.0595, + "y": 0.0026666666666666666, + "width": 0.917, + "height": 0.9853333333333334 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432468358_w03pki36k", + "x": 0.12450000000000001, + "y": 0.6173333333333333 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432470678_nk4vuncao", + "x": 0.9235, + "y": 0.27466666666666667 + } + ] + } + } + }, + { + "action_description": "左臂爪夹继续向爪夹的下方移动，爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角。", + "correction_plan": "右臂爪夹向右臂爪夹的后方移动，同时向右臂爪夹的下方移动靠近衣摆下方一角，并合拢右臂爪夹抓住衣摆下方一角，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹继续向爪夹的下方移动，并合拢爪夹成功抓住下方衣袖，同时右臂爪夹向爪夹后方移动，成功靠近衣摆下方一角。", + "frame": 638, + "progress": 13, + "progress_explanation": "当前左臂爪夹成功抓住下方衣袖，右臂爪夹成功接近衣摆下方一角，因此进度提升至13%。", + "state_description": "当前左臂爪夹已经抓住下方衣袖，右臂爪夹在水平方向上接近衣摆下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹向右臂爪夹的后方移动，同时向右臂爪夹的下方移动靠近衣摆下方一角，并合拢右臂爪夹抓住衣摆下方一角。", + "time": 21.256701030927836, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432442271_1l8qdtj8a", + "x": 0.9675, + "y": 0.48800000000000004 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432445078_pkewfbwvb", + "x": 0.15150000000000002, + "y": 0.7493333333333333 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432458398_nhjakapbx", + "x": 0.0655, + "y": 0.0026666666666666666, + "width": 0.9090000000000001, + "height": 0.9813333333333334 + } + ] + } + } + }, + { + "action_description": "右臂爪夹向右臂爪夹的后方移动，同时向右臂爪夹的下方移动靠近衣摆下方一角，并合拢右臂爪夹抓住衣摆下方一角。", + "correction_plan": "左右臂保持合拢并同时向爪夹的上方抬起，接着向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹向右臂爪夹的后方移动，并合拢右臂爪夹成功抓住衣摆下方一角。", + "frame": 705, + "progress": 15, + "progress_explanation": "当前右臂爪夹已经抓住衣摆下方一角，因此进度提升至15%。", + "state_description": "当前右臂爪夹合拢，已经抓住衣摆下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左右臂保持合拢并同时向爪夹的上方抬起，接着向爪夹的前方移动，靠近衣服中间，进行第一次折叠。", + "time": 23.5104, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432428799_dd495iqug", + "x": 0.0355, + "y": 0.0026666666666666666, + "width": 0.9349999999999999, + "height": 0.9866666666666667 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432432583_4ehepnqh5", + "x": 0.14350000000000002, + "y": 0.7066666666666667 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432435791_lmpemjn66", + "x": 0.9295, + "y": 0.6613333333333333 + } + ] + } + } + }, + { + "action_description": "左右臂保持合拢并同时向爪夹的上方抬起。", + "correction_plan": "左右臂爪夹向爪夹的前方移动，并向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左右臂保持合拢并同时向爪夹的上方抬起，接着向爪夹的前方移动，在水平方向上略微接近衣服中间。", + "frame": 742, + "progress": 16, + "progress_explanation": "当前左右臂爪夹正在靠近衣服中间，因此进度提升至16%。", + "state_description": "当前左右臂合拢，在水平方向上靠近衣服中间。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左右臂爪夹向爪夹的前方移动，并向爪夹的下方移动，接着松开爪夹，完成第一次折叠。", + "time": 24.7428, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432414671_0jjnqt3ve", + "x": 0.0015, + "y": 0.0013333333333333333, + "width": 0.9969999999999999, + "height": 0.9800000000000001 + } + ] + } + } + }, + { + "action_description": "左右臂爪夹向爪夹的前方移动，并向爪夹的下方移动，进行第一次折叠。", + "correction_plan": 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"左臂爪夹向爪夹的下方移动靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左右臂爪夹松开，并向爪夹的后上方抬起，成功完成第一次折叠。", + "frame": 853, + "progress": 20, + "progress_explanation": "当前已经完成第一次折叠。因此进度提升至20%。", + "state_description": "当前左右臂爪夹松开，已经完成第一次折叠。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹向爪夹的下方移动靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角。", + "time": 28.439999, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432387703_7kecz0t6b", + "x": 0.0745, + "y": 0.008, + "width": 0.857, + "height": 0.5546666666666666 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432391967_9w5rndstk", + "x": 0.1385, + "y": 0.4093333333333334 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432394439_zt60blkf3", + "x": 0.9545, + "y": 0.39333333333333337 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹的下方移动靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角。", + "correction_plan": "右臂爪夹向爪夹的下方移动靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的下方移动靠近衣服下方一角，并合拢爪夹成功抓住衣服下方一角。", + "frame": 890, + "progress": 21, + "progress_explanation": "当前左臂爪夹已经抓住衣服下方一角。因此进度提升至21%。", + "state_description": "当前左臂爪夹合拢，已经抓住衣服下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹向爪夹的下方移动靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间。", + "time": 29.6724, + "annotations": { + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432371911_1rl5tsmuq", + "x": 0.14250000000000002, + "y": 0.5226666666666666 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432374079_jja3hnx5a", + "x": 0.9465, + "y": 0.41466666666666663 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432381039_93gxmlzpf", + "x": 0.0895, + "y": 0.008, + "width": 0.8440000000000001, + "height": 0.5533333333333333 + } + ] + } + } + }, + { + "action_description": "右臂爪夹向爪夹的下方移动靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角。", + "correction_plan": "双臂同时向爪夹的上方略微抬起，并向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹向爪夹的下方移动靠近衣服右下方一角，并合拢爪夹成功抓住衣服右下方一角。", + "frame": 936, + "progress": 22, + "progress_explanation": "当前右臂爪夹已经抓住衣服右下方一角。因此进度提升至22%。", + "state_description": "当前左臂爪夹保持合拢，右臂爪夹已经抓住衣服右下方一角。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：双臂同时向爪夹的上方略微抬起，并向爪夹的后方移动，将衣服移动到画面中间。", + "time": 31.189199, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432363735_h1bwno5s8", + "x": 0.0785, + "y": 0.012, + "width": 0.859, + "height": 0.5453333333333333 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432366599_icw82mxsu", + "x": 0.8885, + "y": 0.524 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432368879_x5kraps52", + "x": 0.14250000000000002, + "y": 0.516 + } + ] + } + } + }, + { + "action_description": "双臂同时向爪夹的上方略微抬起，并向爪夹的后方移动，靠近桌面下方。", + "correction_plan": "双臂保持合拢继续向爪夹的后方移动，将衣服移动到桌面中间，随后松开爪夹，向爪夹的上方略微抬起，并向爪夹的前方移动，双臂爪夹移动到衣服两侧的中间的正上方，接着左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "双臂同时向爪夹的上方略微抬起，并向爪夹的后方移动，在水平方向上成功接近桌面下方。", + "frame": 964, + "progress": 23, + "progress_explanation": "当前双臂爪夹在水平方向上略微接近桌面下方。因此进度提升至23%。", + "state_description": "当前双臂爪夹合拢，在水平方向上接近桌面下方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：", + "time": 32.137199, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432349272_ugab23m15", + "x": 0.9445, + "y": 0.5800000000000001 + } + ] + }, + "point_1770431430273": { + "type": "point", + "instances": [ + { + "id": "point_1770431430273_1770432351311_6sx9nxu3o", + "x": 0.08349999999999999, + "y": 0.6373333333333334 + } + ] + }, + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432356784_w9svne7ve", + "x": 0.0365, + "y": 0.06266666666666668, + "width": 0.9349999999999999, + "height": 0.6120000000000001 + } + ] + } + } + }, + { + "action_description": "双臂保持合拢继续向爪夹的后方移动，将衣服移动到桌面中间，并松开爪夹，向爪夹的上方略微抬起。", + "correction_plan": "双臂爪夹张开，向爪夹的上方略微抬起，并向爪夹的前方移动，双臂爪夹移动到衣服两侧的中间的正上方，接着左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + 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"左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": 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"左臂爪夹合拢抓住衣领，左臂爪夹向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的下方移动成功移动到衣领处。", + "frame": 1297, + "progress": 37, + "progress_explanation": "当前左臂爪夹已经移动到衣领处，因此进度提升至37%。", + "state_description": 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"左臂爪夹向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹合拢成功抓住衣领。", + "frame": 1315, + "progress": 40, + "progress_explanation": "当前左臂爪夹成功抓住衣领，因此进度提升至40%。", + "state_description": 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"左臂爪夹继续向爪夹的右上方移动，左臂爪夹移动到桌面上方，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹保持合拢，并向爪夹的右上方移动，在水平方向上接近桌面上方。", + "frame": 1357, + "progress": 41, + "progress_explanation": "当前左臂爪夹在水平方向上接近桌面中间。因此进度提升至41。", + "state_description": "当前左臂爪夹合拢，在水平方向上接近桌面中间。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹继续向爪夹的右上方移动，左臂爪夹移动到桌面上方，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方并合拢爪夹。", + "time": 45.2196, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432160073_kxsf4spcf", + "x": 0.010499999999999999, + "y": 0.11866666666666667, + "width": 0.736, + "height": 0.7333333333333335 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432167345_kp30zg72x", + "x": 0.9205, + "y": 0.38266666666666665 + } + ] + } + } + }, + { + "action_description": "左臂爪夹继续向爪夹的右上方移动，左臂爪夹移动到桌面上方，并松开爪夹。", + "correction_plan": "左臂爪夹松开，向爪夹的上方抬起，并向爪夹的后方移动靠近衣服的左下方一侧，左臂爪夹合拢并抓住衣服的左下方一侧，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹继续向爪夹的右上方移动，左臂爪夹成功移动到桌面上方。", + "frame": 1394, + "progress": 42, + "progress_explanation": "当前衣服已经移动到桌面上方，因此进度提升至42%。", + "state_description": 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"左臂爪夹移动到衣服的左下方一侧的位置，并合拢抓住衣服的左下方一侧，左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹松开，向爪夹的上方抬起，并向爪夹的后方移动，在水平方向上接近衣服的左下方一侧。", + "frame": 1433, + "progress": 43, + "progress_explanation": "当前左臂爪夹在水平方向上接近衣服的左下方一侧。因此进度提升至43%。", + "state_description": 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"左臂爪夹移动到衣服的左下方一侧的位置，并合拢抓住衣服的左下方一侧。", + "correction_plan": "左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，并向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹移动到衣服的左下方一侧的位置，并合拢成功抓住衣服的左下方一侧。", + "frame": 1493, + "progress": 45, + "progress_explanation": "当前左臂爪夹已经抓住衣服的左下方一侧。因此进度提升至45%。", + "state_description": 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"左臂爪夹向爪夹的上方抬起，同时右臂爪夹靠近衣服右上方一侧，右臂爪夹移动到衣服右上方一侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服下方移动到桌面左侧。", + "frame": 1555, + "progress": 47, + "progress_explanation": "当前左臂爪夹张开，已经将衣服下方移动到桌面左侧，因此进度提升至47%。", + "state_description": "当前左臂爪夹张开，在水平方向上位于衣服左侧的上方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹向爪夹的上方抬起，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。", + "time": 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"右臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，右臂爪夹合拢并抓住衣服右上方一侧，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的上方抬起，同时右臂爪夹在水平方向上接近衣服右上方一侧。", + "frame": 1614, + "progress": 49, + "progress_explanation": "当前右臂爪夹在水平方向上接近衣服右上方一侧。因此进度提升至49%。", + "state_description": "当前左臂爪夹离开，右臂爪夹在水平方向上接近衣服右上方一侧。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，右臂爪夹合拢并抓住衣服右上方一侧，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。", + "time": 53.80144329896907, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770428324482_1770432083578_ianrtj1of", + "x": 0.0055, + "y": 0.07600000000000001, + "width": 0.40800000000000003, + "height": 0.9146666666666666 + } + ] + }, + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": "point_1770431430594_1770432091002_vcfav0max", + "x": 0.3605, + "y": 0.376 + } + ] + } + } + }, + { + "action_description": "右臂爪夹继续向爪夹的下方移动，并合拢爪夹抓住衣服右上方一侧。", + "correction_plan": "右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "右臂爪夹继续向爪夹的下方移动，并合拢爪夹成功抓住衣服右上方一侧。", + "frame": 1655, + "progress": 50, + "progress_explanation": "当前右臂爪夹已经抓住衣服右上方一侧。因此进度提升至50%。", + "state_description": "当前右臂爪夹合拢，已经抓住衣服右上方一侧。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分。", + "time": 55.16969072164949, + "annotations": { + 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"左臂爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服上半部分，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "左臂爪夹保持抵住并向爪夹的下方移动，成功将衣服下半部分移动至桌面下方。", + "frame": 1817, + "progress": 54, + "progress_explanation": "当前左臂爪夹已经将衣服下半部分移动至桌面下方。因此进度提升至54%。", + "state_description": "当前左臂爪夹合拢，衣服下半部分在水平方向上位于桌面下方。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹向爪夹的上方抬起，并向爪夹的前方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服上半部分。", + "time": 60.5772, + "annotations": { + "bbox_1770428324482": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹保持抵住并向爪夹的上方移动，将衣服移动至桌面上方，同时左臂爪夹向爪夹的上方略微抬起，并向爪夹的左后方移动，靠近衣服左下角，接着左臂爪夹松开，向左臂爪夹的右下方移动，靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂爪夹离开衣服。", + "error_success_analysis": "左臂爪夹向爪夹的上方抬起，并向爪夹的前方移动，在水平方向上成功抵住衣服上半部分。", + "frame": 1846, + "progress": 55, + "progress_explanation": "当前左臂爪夹在水平方向上成功抵住衣服上半部分。因此进度提升至55%。", + "state_description": "当前左臂爪夹合拢，在水平方向上抵住衣服上半部分。\n为完成用双臂将衣服对折，叠成方块，放在左上角的任务应当：左臂爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角。", + "time": 61.52226804123711, + "annotations": { + "point_1770431430594": { + "type": "point", + "instances": [ + { + "id": 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+ ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770428324482", + "name": "衣服", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1770428329441", + "name": "左臂爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770431430273", + "name": "左臂爪夹右", + "color": "#F44336" + }, + { + "id": "point_1770431430594", + "name": "右臂爪夹左", + "color": "#4CAF50" + }, + { + "id": "point_1770431431153", + "name": "右臂爪夹右", + "color": "#FF9800" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000006.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000006.json new file mode 100644 index 0000000000000000000000000000000000000000..6b4034d183095d1a9b67403240072f9db43010f9 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,2895 @@ +{ + "task_description": "用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角。\n准备开始移动：0%\n双臂爪夹将衣服摊开：50%\n双臂爪夹抓住衣服完成第一次折叠：60%\n双臂爪夹抓住衣服完成第二次折叠：70%\n双臂爪夹抓住衣服完成第三次折叠：90%\n双臂爪夹抓住衣服完成第四次折叠：96%\n爪夹抵住衣服向桌面的左上角靠近：99%\n爪夹抵住衣服，移动到桌面左上角并向爪夹的上方抬起离开：100%", + "progress_points": [ + { + "action_description": "爪夹张开，准备移动。\n", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.37466666666666676, + "id": "bbox_1770434032158_1770457484791_cz10f0p4v", + "width": 0.3670000000000001, + "x": 0.4025, + "y": 0.14133333333333334 + } + ], + "type": "bbox" + } + }, + "correction_plan": "左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服领口处，并合拢爪夹抓住衣领，左臂爪夹保持合拢并向爪夹的左边移动，接着移动到桌面左侧，并松开爪夹，左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹抓住衣服一部分，向爪夹的左上方抬起，随后松开爪夹，接着右臂爪夹向爪夹的左下方移动，靠近衣服，右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分，并合拢左臂爪夹，接着右臂爪夹保持合拢，并向爪夹的上方抬起，同时左臂爪夹也保持合拢，向爪夹的上方抬起，接着右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹随后松开爪夹，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹，双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，接着双臂爪夹向爪夹的下方移动，并松开爪夹，左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左后方移动，同时向爪夹的上方抬起，并松开爪夹，将衣服下方摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，接着左臂爪夹保持合拢，向爪夹的上方抬起，随后松开爪夹，同时右臂爪夹保持合拢，向爪夹的上方抬起，随后向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，随后松开左臂爪夹，接着左臂爪夹向爪夹的后方移动靠近衣服下方衣袖，并合拢爪夹抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，随后松开左臂爪夹，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，随后松开左臂爪夹，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，并合拢爪夹抓住衣摆下方衣角，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，接着双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，并松开爪夹，将衣服放在桌面上，随后右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖，爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，爪夹移动到桌面下方，左臂爪夹松开，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口，左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动，随后松开爪夹，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹，左臂爪夹抓住衣服下方衣袖并向左臂爪夹下方移动，左臂爪夹松开，并靠近衣领处，左臂爪夹移动到衣领处，并合拢爪夹抓住衣领处，左臂爪夹合拢并向左边移动，随后松开左臂爪夹，并向左臂后方移动，接着向上抬起，同时右臂向下移动，靠近下方衣摆，右臂爪夹移动到下方衣摆处，并合拢爪夹抓住下方衣摆，爪夹合拢并向爪夹右上方移动，将衣服下方摊平，接着松开右臂爪夹，并靠近衣摆上方，右臂爪夹移动到衣摆上方处，并合拢爪夹抓住衣摆上方一角，爪夹合拢并向爪夹的右上方移动，将衣服完全摊开，右臂爪夹松开，接着左臂爪夹向下移动，靠近下方衣袖，同时右臂爪夹向爪夹后方移动，靠近衣摆下方一角，接着左臂爪夹移动到下方衣袖处并合拢爪夹，同时右臂爪夹移动到衣摆下方一角，并合拢右臂爪夹，接着左右臂同时向爪夹上方抬起，并向爪夹的前方移动，靠近衣服中间，进行第一次折叠，左右臂继续向爪夹的前方移动，同时向爪夹的下方移动，接着松开爪夹，完成第一次折叠，左臂爪夹靠近衣服下方一角，并合拢爪夹抓住衣服左下方一角，接着右臂爪夹靠近衣服右下方一角，并合拢爪夹抓住衣服右下方一角，接着双臂同时向爪夹的后方移动，将衣服移动到画面中间，左右臂松开，并移动到衣服中间上方，左臂爪夹向爪夹的前方移动靠近上方衣袖，爪夹移动到上方衣袖处并合拢爪夹，同时右臂爪夹向爪夹的前方移动，靠近衣摆右上角，爪夹移动到衣摆右上角处并合拢爪夹，左右臂保持合拢，向爪夹的上方移动，并向爪夹的后方移动，靠近已经折叠的一侧，接着爪夹向爪夹的下方移动，并松开爪夹，完成第二次折叠，右臂爪夹离开，左臂爪夹靠近衣领处，左臂爪夹移动到衣领处并合拢爪夹，左臂爪夹合拢并向爪夹的右上方移动，左臂爪夹移动到桌面中间，并松开爪夹靠近衣服左下方一侧，爪夹移动到衣服左下方移动并合拢爪夹，爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，同时右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹，右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间，接着左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服，爪夹保持抵住并向爪夹的下方移动，将衣服摊平，随后松开左臂爪夹，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服，爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，并靠近衣摆左下角，爪夹移动到衣摆左下角处并合拢爪夹，同时右臂爪夹靠近衣摆右下角，右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进项第三次折叠，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠，接着左臂爪夹向爪夹的下方移动，靠近衣服左下角，左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的下方移动，靠近衣服右下角，右臂爪夹移动到衣服右下角处并合拢爪夹，左右臂同时向爪夹的后上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠，左右臂爪夹松开并向爪夹的上方抬起，完成第四次折叠，左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平，接着左右臂爪夹向爪夹的上方抬起，左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服正上方，并向爪夹下方移动抵住衣服，左臂爪夹保持抵住并向爪夹的左边移动，爪夹移动到桌面左侧，接着左臂爪夹向爪夹的上方移动，将衣服移动到桌面左上角，左臂离开衣服。", + "error_success_analysis": "", + "frame": 95, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。\n", + "state_description": "当前爪夹张开，没有移动，没有接触衣服。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服领口处，并合拢爪夹抓住衣领，左臂爪夹保持合拢并向爪夹的左边移动。", + "time": 3.1726 + }, + { + "action_description": "左臂爪夹向爪夹的右下方移动，靠近衣服，左臂爪夹移动到衣服领口处，并合拢爪夹抓住衣领。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.37866666666666665, + "id": "bbox_1770434032158_1770457493231_8v9tipw9r", + "width": 0.308, + "x": 0.4625, + "y": 0.14133333333333334 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457496112_gjrmguiwa", + "x": 0.5445, + "y": 0.3106666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": "左臂爪夹保持合拢并向爪夹的左边移动，接着移动到桌面左侧，并松开爪夹，左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹抓住衣服一部分，左臂爪夹向爪夹的左上方抬起，随后松开爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服，右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分，右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起，右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服领口处，并合拢爪夹成功抓住衣领。", + "frame": 164, + "progress": 2, + "progress_explanation": "当前左臂爪夹已经抓住衣服领口。因此进度提升至2%。", + "state_description": "当前左臂爪夹合拢，已经抓住衣服领口。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹保持合拢并向爪夹的左边移动，接着移动到桌面左侧，并松开爪夹。", + "time": 5.47 + }, + { + "action_description": "左臂爪夹保持合拢并向爪夹的左边移动，接着移动到桌面左侧，并松开爪夹。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.4066666666666665, + "id": "bbox_1770434032158_1770457509591_k8rt7z9pj", + "width": 0.524, + "x": 0.0235, + "y": 0.17600000000000002 + } + ], + "type": "bbox" + } + }, + "correction_plan": "左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹抓住衣服一部分，左臂爪夹向爪夹的左上方抬起，随后松开爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服，右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分，右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起，右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹保持合拢并向爪夹的左边移动，接着移动到桌面左侧，并松开爪夹，成功将衣服移动到桌面左侧。", + "frame": 200, + "progress": 4, + "progress_explanation": "当前左臂爪夹已将衣服移动到桌面左侧，因此进度提升至4%。", + "state_description": "当前左臂爪夹张开，在水平方向上远离衣服。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹抓住衣服一部分。", + "time": 6.6734 + }, + { + "action_description": "左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹抓住衣服一部分。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.388, + "id": "bbox_1770434032158_1770457519423_egqq3tmb1", + "width": 0.513, + "x": 0.035500000000000045, + "y": 0.17066666666666666 + } + ], + "type": "bbox" + } + }, + "correction_plan": "左臂爪夹向爪夹的左上方抬起，随后松开爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服，右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分，右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起，右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹向爪夹的右下方移动，再次靠近衣服，并合拢爪夹，成功抓住衣服，准备继续进行摊开动作。", + "frame": 263, + "progress": 6, + "progress_explanation": "当前左臂爪夹再次抓住衣服一部分，进行摊开衣服的动作，因此进度提升至6%。", + "state_description": "当前左臂爪夹合拢，再次抓住衣服。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹向爪夹的左上方抬起，随后松开爪夹，接着右臂爪夹向爪夹的左下方移动，靠近衣服。", + "time": 8.752 + }, + { + "action_description": "左臂爪夹向爪夹的左上方抬起，随后松开爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.5533333333333332, + "id": "bbox_1770434032158_1770457530119_713ebor5k", + "width": 0.4840000000000001, + "x": 0.059499999999999977, + "y": 0.18533333333333335 + } + ], + "type": "bbox" + }, + "point_1770434032846": { + "instances": [ + { + "id": "point_1770434032846_1770457533167_cr58ctuyh", + "x": 0.1155, + "y": 0.09333333333333334 + } + ], + "type": "point" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457535696_5jkq6nsq4", + "x": 0.12250000000000001, + "y": 0.20400000000000001 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"右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分，右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起，右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹向爪夹的上方抬起离开衣服，同时右臂爪夹向爪夹的左下方移动，在水平方向上接近衣服。", + "frame": 315, + "progress": 8, + "progress_explanation": "当前右臂爪夹在水平方向上接近衣服，因此进度提升至8%。", + "state_description": "当前左臂爪夹张开，在水平方向上远离衣服，右臂爪夹张开，在水平方向上接近衣服。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分。", + "time": 10.5024 + }, + { + "action_description": "右臂爪夹移动到衣服的一角处，并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服左侧部分。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.5573333333333333, + "id": "bbox_1770434032158_1770457547022_ygokx42a9", + "width": 0.49800000000000005, + "x": 0.058499999999999996, + "y": 0.18666666666666668 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457551654_xrv767nx2", + "x": 0.14650000000000002, + "y": 0.456 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457549255_ic0e7hacn", + "x": 0.5335, + "y": 0.452 + } + ], 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"右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起，右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹合拢抓住衣服衣角，同时左臂爪夹向爪夹的下方移动，在水平方向上接近衣服左侧。", + "frame": 354, + "progress": 10, + "progress_explanation": "当前右臂爪夹已经抓住衣服衣角，因此进度提升至10%。", + "state_description": "当前右臂爪夹合拢，抓住衣服衣角，左臂爪夹在水平方向上接近衣服左侧。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起。", + "time": 11.8152 + }, + { + "action_description": "右臂爪夹保持合拢，向爪夹的上方抬起，同时左臂爪夹合拢抓住衣服左侧部分，并向爪夹的上方抬起。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.6226666666666667, + "id": "bbox_1770434032158_1770457564038_ko68crar3", + "width": 0.708, + "x": 0.028500000000000015, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457566758_lz27prw84", + "x": 0.0475, + "y": 0.16666666666666666 + } + ], + "type": "point" + } + }, + "correction_plan": "右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上，右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹成功将衣服右侧部分抬起，同时左臂爪夹成功将衣服左侧部分轻微抬起。", + "frame": 387, + "progress": 12, + "progress_explanation": "当前右臂爪夹已经将衣服右侧部分抬起，同时左臂爪夹将衣服左侧部分轻微抬起，因此进度提升至12%。", + "state_description": "当前左右臂爪夹合拢，均已经抓住衣服部分。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上。", + "time": 12.9092 + }, + { + "action_description": "右臂爪夹向爪夹的下方移动，同时左臂爪夹松开，衣服衣领处落在桌面上。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.6946666666666665, + "id": "bbox_1770434032158_1770457577614_lzkps6ujs", + "width": 0.781, + "x": 0.0595, + "y": 0.17466666666666666 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457580238_ls4gp3tny", + "x": 0.0615, + "y": 0.21733333333333335 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457582798_ddjx64nnj", + "x": 0.8035, + "y": 0.8413333333333334 + } + ], + "type": "point" + } + }, + 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"右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹向爪夹的下方移动，靠近桌面，同时左臂爪夹松开，衣服衣领处落在桌面上。", + "frame": 421, + "progress": 14, + "progress_explanation": "当前左臂爪夹松开，衣服衣领处落在桌面上，因此进度提升至14%。", + "state_description": "当前左臂爪夹张开，衣服衣领处位于桌面上，右臂爪夹合拢，垂直于桌面。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。", + "time": 14.041546391752577 + }, + { + "action_description": "右臂爪夹张开，并向爪夹的上方移动，靠近衣摆上方衣角，左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.7013333333333333, + "id": "bbox_1770434032158_1770457597502_tybtmwymj", + "width": 0.7699999999999999, + "x": 0.0605, + "y": 0.18266666666666667 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457601318_y9qphntx8", + "x": 0.17750000000000002, + "y": 0.5133333333333333 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457603518_s0eddr073", + "x": 0.7235, + "y": 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"左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹在水平方向上成功接近衣服下方衣袖，同时右臂爪夹在水平方向上成功接近衣摆上方衣角。", + "frame": 452, + "progress": 16, + "progress_explanation": "当前左臂爪夹在水平方向上接近衣服下方衣袖，同时右臂爪夹在水平方向上接近衣摆上方衣角。因此进度提升至16%。", + "state_description": "当前左臂爪夹张开，在水平方向上接近衣服下方衣袖，右臂爪夹张开，在水平方向上接近衣摆上方衣角。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。", + "time": 15.056597938144332 + }, + { + "action_description": "左臂爪夹移动到衣服下方衣袖并合拢爪夹，同时右臂爪夹移动到衣摆上方衣角并合拢爪夹。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.7, + "id": "bbox_1770434032158_1770457618278_aznit0nci", + "width": 0.7750000000000001, + "x": 0.058499999999999996, + "y": 0.18133333333333335 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457613182_baryeeckm", + "x": 0.1565, + "y": 0.5519999999999999 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457610686_aab2lr4c7", + "x": 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"双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹向爪夹的前方移动，并合拢爪夹成功抓住衣摆上方衣角，左臂爪夹向爪夹的右下方移动，并合拢爪夹成功抓住衣服下方衣袖。", + "frame": 472, + "progress": 18, + "progress_explanation": "当前左右臂爪夹都已经抓住衣服的各部分，因此进度提升至18%。", + "state_description": "当前左右臂爪夹合拢，均已经抓住衣服的各部分。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起。", + "time": 15.733298969072164 + }, + { + "action_description": "双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.5733333333333334, + "id": "bbox_1770434032158_1770457625558_f1296ec6b", + "width": 0.8700000000000001, + "x": 0.0005000000000000004, + "y": 0.18133333333333335 + } + ], + "type": "bbox" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457638230_n9mthsx3q", + "x": 0.8035, + "y": 0.2693333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩，左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "双臂爪夹保持合拢，右臂爪夹向爪夹的右上方抬起，同时左臂爪夹向爪夹的左上方抬起，双臂爪夹同时进行摊开动作。", + "frame": 499, + "progress": 20, + "progress_explanation": "当前左臂爪夹在向桌面左侧摊开衣服，右臂爪夹在向桌面右侧摊开衣服，因此进度提升至20%。", + "state_description": "当前左臂爪夹合拢，在水平方向上位于桌面左侧，右臂爪夹合拢，在水平方向上位于桌面右侧。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：双臂爪夹张开，右臂爪夹向爪夹的后方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩。", + "time": 16.628799 + }, + { + "action_description": "双臂爪夹张开，右臂爪夹向爪夹的左方移动，同时左臂爪夹向爪夹的右前方移动，靠近衣服下方衣肩。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.6506666666666666, + "id": "bbox_1770434032158_1770457654390_7bzvny2es", + "width": 0.8370000000000001, + "x": -0.0015000000000000013, + "y": 0.18666666666666668 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457647430_nbvdvdayx", + "x": 0.0395, + "y": 0.5013333333333334 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457642950_vv8wlkmib", + 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"左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方，左臂爪夹抓住衣服下方衣肩，并抬起，右臂爪夹在水平方向上接近衣摆下方衣角。左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "双臂爪夹张开，右臂爪夹向爪夹的左方移动，左臂爪夹向爪夹的右前方移动，在水平方向上接近衣服下方衣肩。", + "frame": 540, + "progress": 21, + "progress_explanation": "当前左臂爪夹在水平方向上接近衣服下方衣肩。因此进度提升至21%。", + "state_description": "当前左臂爪夹张开，在水平方向上接近衣服下方衣肩。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹移动到衣服下方衣肩处并合拢爪夹，同时右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方。", + "time": 17.988969072164945 + }, + { + "action_description": "左臂爪夹移动到衣服下方衣肩处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左后方移动，同时向爪夹的上方抬起，右臂爪夹向爪夹的左方移动至衣摆下方衣角的正上方。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.5599999999999999, + "id": "bbox_1770434032158_1770457664541_591u2ymsu", + "width": 0.834, + "x": 0.006500000000000006, + "y": 0.188 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457666806_b8f383e68", + "x": 0.05550000000000001, + "y": 0.376 + } + ], + "type": "point" + }, + "point_1770434033230": { + "instances": [ + { + "id": "point_1770434033230_1770457670469_zqled8hpx", + "x": 0.8065, + "y": 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"左臂爪夹张开，将衣服下方衣袖处摊开，接着右臂爪夹靠近衣摆下方衣角，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，同时左臂爪夹向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": 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"左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动，左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹成功抓住衣摆下方衣角，同时左臂爪夹向爪夹的下方移动，成功接近衣服下方衣袖。", + "frame": 621, + "progress": 24, + "progress_explanation": "当前右臂爪夹已经抓住衣摆下方衣角，同时左臂爪夹在水平方向上已经接近衣服下方衣袖。因此进度提升至24%。", + "state_description": "当前右臂爪夹合拢，已经抓住衣摆下方衣角，左臂爪夹张开，在水平方向上接近衣服下方衣袖。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动。", + "time": 20.69577319587629 + }, + { + "action_description": "左臂爪夹向爪夹的下方移动并合拢爪夹，右臂爪夹保持合拢并向爪夹的右边移动。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.6066666666666667, + "id": "bbox_1770434032158_1770457745349_t33aq5wnt", + "width": 0.891, + "x": 0.0405, + "y": 0.18400000000000002 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770457749620_tnbyf23qx", + "x": 0.05750000000000001, + "y": 0.7213333333333334 + } + ], + "type": "point" + } + }, + "correction_plan": "左右臂爪夹保持合拢，向爪夹的上方抬起，随后左臂爪夹张开，衣绣处掉落在桌面上，右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"右臂爪夹向爪夹的下方移动，并松开爪夹，接着左臂爪夹向爪夹的右前方移动，同时向爪夹的下方移动，靠近衣服领口，左臂爪夹移动到衣服领口处并合拢爪夹，左臂爪夹保持合拢，向爪夹的左前方移动，并向爪夹的上方抬起，左臂爪夹张开，并向爪夹的后方移动靠近衣服下方衣袖，左臂爪夹合拢抓住衣服下方衣袖，左臂爪夹保持合拢，向爪夹的左后方移动，并向爪夹的上方抬起，左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹张开，重新向爪夹的下方移动，靠近衣服下方衣袖，左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹合拢向爪夹的左后方移动，左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹张开，向爪夹的上方轻微抬起，接着向爪夹的右前方移动，靠近衣服下方衣肩处，左臂爪夹合拢抓住衣服下方衣肩，同时右臂爪夹向爪夹的左下方移动，靠近衣摆下方衣角，左臂爪夹保持合拢，右臂爪夹移动到衣摆下方衣角处并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起，双臂爪夹向爪夹的前方略微移动，双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"双臂爪夹向爪夹的后方移动，同时向爪夹的下方移动，靠近桌面，双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"双臂爪夹继续向爪夹的下方移动，并松开爪夹将衣服放在桌面上，右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服下方衣袖。左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的右下方移动，在水平方向上成功接近衣服下方衣袖。", + "frame": 1175, + "progress": 44, + "progress_explanation": "当前左臂爪夹在水平方向上接近衣服下方衣袖。因此进度提升至44%。", + "state_description": "当前左臂爪夹张开，在水平方向上接近衣服下方衣袖。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。", + "time": 39.1652 + }, + { + "action_description": "左臂爪夹移动到衣服下方衣袖处并合拢爪夹，左臂爪夹保持合拢向爪夹的后方移动，靠近桌面下方。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.984, + "id": "bbox_1770434032158_1770458047082_eyqdtjdbr", + "width": 0.976, + "x": 0.0185, + "y": 0.005333333333333333 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770458039306_vn4y3rgu4", + "x": 0.1155, + "y": 0.8613333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服下方衣袖，左臂爪夹向爪夹的后方移动，在水平方向上接近桌面下方。", + "frame": 1204, + "progress": 45, + "progress_explanation": "当前左臂爪夹在水平方向上接近桌面下方。因此进度提升至45%。", + "state_description": "当前左臂爪夹合拢，抓住衣服下方衣袖，在水平方向上接近桌面下方。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。", + "time": 40.1498 + }, + { + "action_description": "左臂爪夹移动到桌面下方后松开爪夹，向爪夹的上方抬起，并向爪夹的前方移动靠近衣服领口。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.9853333333333334, + "id": "bbox_1770434032158_1770458059009_uyilsenie", + "width": 0.9299999999999999, + "x": 0.0675, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770458061673_j1cv8tbuh", + "x": 0.14650000000000002, + "y": 0.41333333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹将衣服下方衣袖移动到桌面下方，随后松开爪夹，向爪夹的上方抬起并向爪夹的前方移动，靠近衣服领口。", + "frame": 1241, + "progress": 46, + "progress_explanation": "当前左臂爪夹在水平方向上接近衣服领口。因此进度提升至46%。", + "state_description": "当前左臂爪夹张开，在水平方向上接近领口。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。", + "time": 41.353199 + }, + { + "action_description": "左臂爪夹移动到领口处并合拢爪夹，向爪夹的左边移动。", + "annotations": { + "bbox_1770434032158": { + "instances": [ + { + "height": 0.9853333333333334, + "id": "bbox_1770434032158_1770458071233_s6wi1am85", + "width": 0.8949999999999999, + "x": 0.0615, + "y": 0.0026666666666666666 + } + ], + "type": "bbox" + }, + "point_1770434033054": { + "instances": [ + { + "id": "point_1770434033054_1770458065257_tfevhcvaa", + "x": 0.17250000000000001, + "y": 0.30400000000000005 + } + ], + "type": "point" + } + }, + "correction_plan": "左臂爪夹张开，随后向爪夹的上方抬起，将衣服摊开，接着左臂爪夹向爪夹的后方移动，靠近衣服下方衣袖。左臂爪夹向爪夹的后方移动，左臂爪夹移动到衣服下方衣袖处，并合拢左臂爪夹。左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹合拢，同时右臂爪夹向爪夹的左下方移动，右臂爪夹移动到衣摆下方衣角处并合拢右臂爪夹。双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"双臂爪夹保持合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，完成第一次折叠。右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "双臂爪夹，向爪夹的前方移动，同时向爪夹的下方移动，并松开爪夹，成功完成第一次折叠。", + "frame": 1520, + "progress": 60, + "progress_explanation": "当前已经完成第一次折叠，因此进度提升至69%。", + "state_description": "当前双臂爪夹松开，已经完成第一次折叠。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。", + "time": 50.6522, + "annotations": { + "point_1770434033054": { + "type": "point", + "instances": [ + { + "id": "point_1770434033054_1770621501589_txphcjs8f", + "x": 0.1045, + "y": 0.3413333333333333 + } + ] + }, + "point_1770434033230": { + "type": "point", + "instances": [ + { + "id": "point_1770434033230_1770621503941_u0s0zeqtv", + "x": 0.9685, + "y": 0.21200000000000002 + } + ] + }, + "bbox_1770434032158": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770434032158_1770621509877_x1p2soe41", + "x": 0.042499999999999996, + "y": 0.02, + "width": 0.8809999999999999, + "height": 0.5373333333333332 + } + ] + } + } + }, + { + "action_description": "右臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的后上方移动，同时向爪夹的下方移动，靠近衣服左下角。", + "correction_plan": "左臂爪夹移动到衣服左下角处并合拢爪夹，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下角。左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"左臂爪夹保持合拢，右臂爪夹移动到衣服右下角处并合拢爪夹，双臂爪夹保持合拢，向桌面下方靠近。双臂爪夹抓住衣服移动到桌面下方，并松开双臂爪夹，同时左臂爪夹向爪夹的前方移动，靠近衣服上方衣袖。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动到衣服上方衣袖的位置，并合拢左臂爪夹，接着右臂爪夹向爪夹的前方移动，靠近衣服右上角。左臂爪夹保持合拢，右臂爪夹移动到衣服右上角，并合拢爪夹，双臂爪夹保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的一面。双臂爪夹松开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服衣领。左臂爪夹合拢，并向爪夹的右前方移动，靠近桌面上方。左臂爪夹张开，向爪夹的上方抬起，并向爪夹的后方移动，靠近衣服左下方一侧。左臂爪夹移动到衣服左下方移动并合拢爪夹。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，将衣服移动到桌面左侧。右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", 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"右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。右臂爪夹合拢并向爪夹的右侧移动，右臂爪夹松开，将衣服移动到桌面中间。左臂爪夹靠近衣服下方部分，左臂爪夹向爪夹的下方移动并抵住衣服。左臂爪夹保持抵住并向爪夹的下方移动，将衣服摊平。左臂爪夹张开，并向爪夹的上方移动，靠近衣服上半部分，爪夹向爪夹的下方移动，并抵住衣服。爪夹保持抵住并向爪夹的上方移动，将移动向爪夹的上方略微移动，接着左臂爪夹松开，向爪夹的左上方抬起。左臂爪夹向爪夹的右下方移动，靠近衣摆左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下角，右臂爪夹靠近衣服右下角。右臂爪夹移动到衣摆右下角处并合拢爪夹，双臂保持合拢，向爪夹的上方抬起。双臂爪夹保持合拢，向爪夹的前方移动，同时向爪夹的下方移动，进行第三次折叠。左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。左臂爪夹向爪夹的右下方移动，左臂爪夹移动到衣服左下角，并合拢爪夹抓住衣服左下角。左臂爪夹保持合拢，同时右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动，同时向爪夹的下方移动，进行第四次折叠。双臂爪夹向爪夹的下方移动，并松开爪夹，完成第四次折叠，并向爪夹的上方略微抬起。右臂爪夹向爪夹的上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动至桌面左侧。左臂爪夹保持抵住动作，并向爪夹的上方移动，左臂爪夹将衣服移动到桌面左上角，接着向爪夹的后上方抬起离开。", + "error_success_analysis": "左臂爪夹合拢并向爪夹的左边移动，随后松开左臂爪夹，成功将衣服移动到桌面左侧。", + "frame": 2191, + "progress": 75, + "progress_explanation": "当前左臂爪夹张开，已经将衣服移动到桌面左侧，因此进度提升至75%。", + "state_description": "当前左臂爪夹张开，衣服在水平方向上位于桌面左侧。\n为完成用双臂爪夹将衣服摊开，接着将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹靠近衣服右侧，右臂爪夹移动到衣服右侧并合拢爪夹。", + "time": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000008.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..3d2df29482c23d35277d7b235b674df1a1f0d38d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,1769 @@ +{ + "task_description": 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"type": "point" + } + }, + "correction_plan": "双臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹靠近盖子左侧边推动至底面内部。左臂爪夹远离纸盒，右臂爪夹靠近盖子右侧边推动至底面内部。纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "", + "frame": 71, + "progress": 0, + "progress_explanation": "当前为初始状态，左右臂爪夹未开始移动，因此进度为0%。", + "state_description": "当前为初始状态左臂爪夹张开，右臂爪夹不动，远离目标物。未开始移动。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：双臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。", + "time": 2.374666 + }, + { + "action_description": "左臂爪夹向爪夹右前方移动下降，右臂爪夹调整爪夹角度并垂直下降", + "annotations": { + "bbox_1772009654816": { + 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"左臂将下侧边突出物折叠，右臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹靠近盖子左侧边推动至底面内部。左臂爪夹远离纸盒，右臂爪夹靠近盖子右侧边推动至底面内部。纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "双臂下降靠近了底面下侧边的突出物，方便将突出物折叠起来。", + "frame": 103, + "progress": 2, + "progress_explanation": "左臂爪夹靠近了底面下侧边突出物，右臂爪夹垂直上接近了底面下侧边突出物。方便将突出物折叠，因此进度提升为2%。", + "state_description": "左臂爪夹靠近了底面下侧边突出物，右臂爪夹垂直上接近了底面下侧边突出物。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂将下侧边突出物折叠，右臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。", + "time": 3.443266 + }, + { + "action_description": "左臂爪夹向爪夹右方移动升高，右臂爪夹垂直下降", + "annotations": { + 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"左臂爪夹向爪夹右方移动下降，右臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹靠近盖子左侧边推动至底面内部。左臂爪夹远离纸盒，右臂爪夹靠近盖子右侧边推动至底面内部。纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹向爪夹右方移动升高将突出物折叠了一半，右臂爪夹垂直下降靠近了突出物。方便突出物折叠起来。", + "frame": 124, + "progress": 4, + "progress_explanation": "左臂爪夹将底面下侧边突出物沿着对折线对折了一半，右臂爪夹靠近了底面下侧边另一边突出物。方便突出物折叠，因此进度提升为4%。", + "state_description": "左臂爪夹将底面下侧边突出物沿着对折线对折了一半，右臂爪夹靠近了底面下侧边另一边突出物。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹向爪夹右方移动下降，右臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。", + "time": 4.131185590206186 + }, + { + "action_description": 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"左臂爪夹保持不动，右臂爪夹向爪夹左方移动将另一侧突出物折叠起来。接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹靠近盖子左侧边推动至底面内部。左臂爪夹远离纸盒，右臂爪夹靠近盖子右侧边推动至底面内部。纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹向爪夹右方移动下降将突出物沿着对折线折叠了起来，右臂爪夹靠近了另一侧突出物，方便将另一侧突出物折叠起来。", + "frame": 157, + "progress": 6, + "progress_explanation": "左臂爪夹按住将突出物折叠了起来，右臂爪夹靠近了底面下侧边另一侧的突出物。方便另一侧突出物折叠起来，因此进度提升为6%。", + "state_description": "左臂爪夹按住将突出物折叠了起来，右臂爪夹靠近了底面下侧边另一侧的突出物。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹保持不动，右臂爪夹向爪夹左方移动将另一侧突出物折叠起来。接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。", + "time": 5.232835080927836 + }, + { + "action_description": 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"右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹靠近盖子左侧边推动至底面内部。左臂爪夹远离纸盒，右臂爪夹靠近盖子右侧边推动至底面内部。纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹合拢下降将突出物折叠了起来，右臂爪夹按住突出物不动。两侧突出物都折叠了起来。", + "frame": 386, + "progress": 20, + "progress_explanation": "左臂爪夹将突出物折叠了起来，右臂爪夹按住突出物不动。因此进度提升为20%。", + "state_description": "左臂爪夹将突出物折叠了起来，右臂爪夹按住突出物不动。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。", + "time": 12.882566 + }, + { + "action_description": "左臂爪夹垂直升高，右臂爪夹向右方移动升高", + "annotations": { + "bbox_1772009654816": { + "instances": [ + { + "height": 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"name": "纸盒" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1772009662482", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1772009668991", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1772009677577", + "name": "右臂爪夹左" + }, + { + "color": "#FF9800", + "id": "point_1772009684509", + "name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000010.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000010.json new file mode 100644 index 0000000000000000000000000000000000000000..53a1c62fb95cbaef79cbc589e29a24bf60dce69d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000010.json @@ -0,0 +1,1577 @@ +{ + "task_description": "用双臂将桌面上展开的纸箱组装起来：\n准备开始移动：0%\n[左臂]靠近并折叠底面下部一侧突出物，[右臂]靠近并折叠底面下部另一侧突出物：10%\n[左臂]靠近并折叠底面上部一侧突出物，[右臂]靠近并折叠底面上部另一侧突出物：20%\n[左臂]靠近并折叠盖子一侧突出物，[右臂]靠近并折叠盖子另一侧突出物：30%\n[左臂]靠近抓取盖子一侧突出物，[右臂]靠近按住底边侧边：35%\n[左臂]抓紧盖子一侧突出物将纸盒竖立起来，[右臂]保持按住底面下侧边：45%\n[左臂]抓紧盖子一侧突出物不动，[右臂]靠近按住底面上侧边：50%\n[左臂]将底面左侧边折叠，[右臂]保持按住底面上侧边：55%\n[左臂]夹紧底面左侧边将纸盒放倒，[右臂]将底面右侧边折叠：65%\n[左臂]靠近盖子左侧边将盖子带至底面上方，[右臂]按住底面：75%\n[左臂]夹紧盖子左侧边不动，[右臂]靠近并抓取盖子上侧边：80%\n[左臂]远离纸盒，[右臂]夹紧盖子上侧边将盖子关闭：85%\n[左臂]靠近并按住纸盒，[右臂]将盖子上侧边折叠起来：95%\n[左臂]远离纸盒，[右臂]远离纸盒：100%", + "progress_points": [ + { + "action_description": "左臂爪夹不动，右臂爪夹不动，都未开始移动", + "correction_plan": "双臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "", + "frame": 73, + "progress": 0, + "progress_explanation": "当前为初始状态，左右臂爪夹未开始移动，因此进度为0%。", + "state_description": "当前为初始状态左臂爪夹张开不动，右臂爪夹不动，远离目标物。未开始移动。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：双臂向纸箱底面下侧边靠近将下侧边突出物折叠起来，接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。", + "time": 2.421466, + "annotations": { + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772090771368_g4biije3m", + "x": 0.0025, + "y": 0.0013333333333333333, + "width": 0.9960000000000001, + "height": 0.8466666666666669 + } + ] + }, + "point_1772078378802": { + "type": "point", + "instances": [ + { + "id": "point_1772078378802_1772090781812_caquw7hud", + "x": 0.0455, + "y": 0.44133333333333336 + } + ] + } + } + }, + { + "action_description": "左臂爪夹垂直下降，右臂爪夹向爪夹左方移动下降", + "correction_plan": "左臂爪夹向爪夹右方移动下降，右臂爪夹向爪夹左方移动下降。双臂将底面下侧边突出物折叠起来。接着双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹垂直下降靠近了底面下侧边突出物，右臂爪夹向爪夹左方移动下降靠近了底面下侧边另一侧突出物。方便左右臂将突出物折叠。", + "frame": 101, + "progress": 5, + "progress_explanation": "左臂爪夹靠近了底面下侧边突出物，右臂爪夹靠近了底面下侧边另一侧突出物。方便双臂将突出物折叠，因此进度提升为5%。", + "state_description": "左臂爪夹靠近了底面下侧边突出物，右臂爪夹靠近了底面下侧边另一侧突出物。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹向爪夹右方移动下降，右臂爪夹向爪夹左方移动下降。双臂将底面下侧边突出物折叠起来。", + "time": 3.357033, + "annotations": { + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772090829271_8e5xi8jss", + "x": -0.0005000000000000004, + "y": 0.0013333333333333346, + "width": 1.0000000000000002, + "height": 0.8533333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹右方移动下降，右臂爪夹向爪夹左方移动下降", + "correction_plan": "双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹向爪夹右方移动下降，右臂爪夹向爪夹左方移动下降。双臂成功将突出物沿着对折线折叠了起来。", + "frame": 140, + "progress": 10, + "progress_explanation": "双臂爪夹将突出物沿着对折线折叠了起来。因此进度提升为10%。", + "state_description": "左臂爪夹将底面下侧边突出物沿对折线折叠起来，右臂爪夹将底面下侧边另一侧突出物沿对折线折叠起来。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：双臂向纸箱底面上侧边靠近将上侧边突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。", + "time": 4.677833, + "annotations": { + "point_1772078388804": { + "type": "point", + "instances": [ + { + "id": "point_1772078388804_1772090844755_9oqi6t3c7", + "x": 0.7535000000000001, + "y": 0.74 + } + ] + }, + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772090852409_fb8qdrgu3", + "x": 0.0035000000000000005, + "y": 0.0013333333333333333, + "width": 0.9949999999999999, + "height": 0.9053333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹垂直升高，右臂爪夹向爪夹正后方移动下降", + "correction_plan": "左臂爪夹向爪夹左前方移动靠近底面上侧边突出物，右臂爪夹向爪夹右前方移动升高靠近底面上侧边另一侧突出物。双臂将突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹垂直升高远离纸盒，方便靠近底面上侧边突出物。", + "frame": 157, + "progress": 12, + "progress_explanation": "左臂爪夹远离了纸盒，右臂爪夹按住突出物不动。方便靠近底面上次边突出物，因此进度提升为12%。", + "state_description": "左臂爪夹远离了纸盒，右臂爪夹继续按住突出物。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹向爪夹左前方移动靠近底面上侧边突出物，右臂爪夹向爪夹右前方移动升高靠近底面上侧边另一侧突出物。双臂将突出物折叠起来。", + "time": 5.2480240231958755, + "annotations": { + "point_1772078388804": { + "type": "point", + "instances": [ + { + "id": "point_1772078388804_1772090859939_02zi732n3", + "x": 0.7735000000000001, + "y": 0.8266666666666667 + } + ] + }, + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772090869054_0nrfey7pp", + "x": 0.0035000000000000005, + "y": 0.0026666666666666913, + "width": 0.9940000000000001, + "height": 0.9266666666666666 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹左方移动升高，右臂爪夹垂直升高", + "correction_plan": "左臂爪夹向爪夹正前方移动靠近底面上侧边突出物，右臂爪夹向爪夹右前方移动升高靠近底面上侧边另一侧突出物。双臂将突出物折叠起来。将突出物折叠起来后右臂爪夹向纸盒盖子右侧边靠近并按住右侧边，左臂爪夹将盖子左侧边沿对折线折叠起来。左臂爪夹按住盖子左侧边不动，右臂爪夹将盖子右侧边沿对折线折叠起来。左臂爪夹远离纸盒，右臂爪夹远离纸盒。接着左臂爪夹靠近抓取盖子左侧边，右臂爪夹靠近并按住底面下侧边保持不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高，将纸盒竖立起来。纸盒竖立起来后，左臂爪夹夹紧盖子左侧保持不动。右臂爪夹靠近按住底面上侧边保持不动。接着左臂爪夹靠近底面左侧边将左侧边折叠起来。左臂爪夹夹紧底面左侧边，将纸盒放平。右臂爪夹远离纸箱。左臂爪夹夹紧底面左侧边保持不动，右臂爪夹将底面右侧边折叠起来。底面装好后，双臂远离纸盒。接着左臂向盖子左侧边靠近抓取，右臂爪夹按住底面不动。左臂爪夹夹紧盖子左侧边向爪夹正后方移动升高将盖子带至底面上方。左臂爪夹夹紧盖子左侧边保持不动，右臂爪夹靠近抓取盖子上侧边。左臂爪夹远离纸盒，右臂爪夹将纸盒移动至中央位置。左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。接着左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "双臂远离了纸盒。方便向底面上侧边突出物靠近。", + "frame": 178, + "progress": 14, + "progress_explanation": "双臂远离了纸盒。方便向底面上侧边突出物靠近。因此进度提升为14%。", + "state_description": "双臂远离了纸盒。方便向底面上侧边突出物靠近。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹向爪夹正前方移动靠近底面上侧边突出物，右臂爪夹向爪夹右前方移动升高靠近底面上侧边另一侧突出物。双臂将突出物折叠起来。", + "time": 5.943599, + "annotations": { + "point_1772078388804": { + "type": "point", + "instances": [ + { + "id": 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"左臂爪夹远离了纸盒，右臂爪夹夹紧盖子上侧边移动中央位置。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹远离纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降将纸盒盖子盖上。", + "time": 46.558199, + "annotations": { + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772091544242_9znjp9q75", + "x": 0.3735, + "y": 0.0013333333333333333, + "width": 0.6060000000000001, + "height": 0.6466666666666667 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹左后方移动升高，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降", + "correction_plan": "左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "error_success_analysis": "左臂爪夹向爪夹左后方移动升高远离了纸盒，右臂爪夹夹紧盖子上侧边向爪夹正后方移动下降使盖子盖上。", + "frame": 1441, + "progress": 85, + "progress_explanation": "左臂爪夹远离了纸盒，右臂爪夹将盖子盖上。因此进度提升为85%。", + "state_description": "左臂爪夹远离了纸盒，右臂爪夹将盖子盖上。\n为完成用双臂将桌面上展开的纸箱组装起来的任务目标应当：左臂爪夹按住纸盒，右臂爪夹靠近并折叠盖子上侧边使盖子盖好。双臂远离纸盒。", + "time": 48.044099, + "annotations": { + "point_1772078388804": { + "type": "point", + "instances": [ + { + "id": "point_1772078388804_1772091552235_t1us4mv0i", + "x": 0.7384999999999999, + "y": 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"左臂爪夹向爪夹左方移动升高，右臂爪夹向爪夹正后方移动升高", + "correction_plan": "", + "error_success_analysis": "左臂爪夹远离了纸盒，右臂爪夹向爪夹正后方移动升高远离了纸盒。任务完成。", + "frame": 1532, + "progress": 100, + "progress_explanation": "双臂都远离了纸盒，纸盒完全组装折叠起来。因此进度提升为100%。", + "state_description": "双臂都远离了纸盒，纸盒完全组装起来。\n用双臂将桌面上展开的纸箱组装起来的任务目标完成。", + "time": 51.070933, + "annotations": { + "point_1772078388804": { + "type": "point", + "instances": [ + { + "id": "point_1772078388804_1772091601516_4tft6gdpa", + "x": 0.8154999999999999, + "y": 0.42400000000000004 + } + ] + }, + "bbox_1772078364068": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772078364068_1772091605960_t7hcuujqg", + "x": 0.37749999999999995, + "y": 0.10666666666666662, + "width": 0.621, + "height": 0.5706666666666667 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1772078364068", + "name": "纸盒", + "color": "#4CAF50" + } + ], + "point_targets": [ + { + "id": "point_1772078371704", + "name": "左臂爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1772078378802", + "name": "左臂爪夹右", + "color": "#F44336" + }, + { + "id": "point_1772078388804", + "name": "右臂爪夹左", + "color": "#4CAF50" + }, + { + "id": "point_1772078395088", + "name": "右臂爪夹右", + "color": "#FF9800" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000017.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000017.json new file mode 100644 index 0000000000000000000000000000000000000000..26351fa81876f41f122fa9ce74d57777d622e584 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000017.json @@ -0,0 +1,3639 @@ +{ + "task_description": "用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部：\n准备开始移动：0%\n[左臂]抓紧快递盒左翼下部，[右臂]靠近包裹：10%\n[左臂]继续抓紧快递盒左翼下部，[右臂]爪夹松开包裹放入快递盒中：20%\n[左臂][右臂]抓住快递盒两侧：30%\n[左臂]靠近快递盒左翼下部，[右臂]抓紧快递盒右侧：40%\n[左臂]抓紧快递盒左翼下部，[右臂]靠近快递盒右翼下部：50%\n[左臂][右臂]抓住快递盒两翼下部向后方移动并下降：60%\n[左臂][右臂]爪夹松开并稍微远离快递盒：70%\n[左臂][右臂]抓住快递盒两翼上部：80%\n[左臂][右臂]将快递盒关闭：90%\n[左臂][右臂]将快递盒放在桌子中上部后远离快递盒：100%\n\n", + "progress_points": [ + { + "action_description": "爪夹左右臂处于屏幕外，都未开始移动\n", + "annotations": { + "bbox_1772076094913": { + "instances": [ + { + "height": 0.3359999726562523, + "id": "bbox_1772076094913_1772076362668_r69qwyzus", + "width": 0.3949999758911148, + "x": 0.5996665893758185, + "y": 0.5647962517459105 + } + ], + "type": "bbox" + }, + "bbox_1772076117569": { + "instances": [ + { + "height": 0.5853332856987886, + "id": "bbox_1772076117569_1772076382034_87yqrj6op", + "width": 0.647999960449221, + "x": 0.007666625508628816, + "y": 0.3141296054785477 + } + ], + "type": "bbox" + }, + "bbox_1772076135709": { + "instances": [ + { + "height": 0.27733331076389073, 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"爪夹左臂向爪夹右方移动下降，靠近快递盒左翼下部，靠近后爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹，右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "无\n", + "frame": 99, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹左右臂未开始移动，因此进度为0%。\n", + "state_description": "当前为初始状态爪夹左右臂处于屏幕外，远离目标物。未开始移动。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：爪夹左臂向爪夹右方移动下降，靠近快递盒左翼下部，靠近后爪夹左臂合拢抓取快递盒左翼下部。\n", + "time": 3.311612252360094 + }, + { + "action_description": "左臂爪夹向爪夹右方移动下降，右臂爪夹保持不动\n", + "annotations": { + "bbox_1772076094913": { + "instances": [ + { + "height": 0.34399997200521054, + "id": "bbox_1772076094913_1772089196856_3md93cykb", + "width": 0.3959999758300796, + "x": 0.6006665893147833, + "y": 0.5593147636462596 + } + ], + "type": "bbox" + }, + "bbox_1772076117569": { + "instances": [ + { + "height": 0.6093332837456636, + "id": "bbox_1772076117569_1772089218736_03pu9oozi", + "width": 0.647999960449221, + "x": 0.008666625447593663, + "y": 0.3126481170533759 + } + ], + "type": "bbox" + }, + "bbox_1772076135709": { + "instances": [ + { + "height": 0.2733333110894115, + "id": 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"爪夹左臂向爪夹右方移动下降，靠近快递盒左翼下部，靠近后爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹，右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹向爪夹右方移动下降，水平和垂直上接近了快递盒左翼下部。方便左臂爪夹抓取快递盒左翼下部。\n", + "frame": 125, + "progress": 2, + "progress_explanation": "左臂爪夹角度接近垂直于桌面，水平和垂直上接近了快递盒左翼下部。右臂爪夹未开始移动。因此进度提升为2%。\n", + "state_description": "左臂爪夹张开，左臂爪夹角度接近垂直于桌面，水平和垂直上接近了快递盒左翼下部。右臂爪夹保持不动。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：爪夹左臂向爪夹右方移动下降，靠近快递盒左翼下部，靠近后爪夹左臂合拢抓取快递盒左翼下部。", + "time": 4.161302920544627 + }, + { + "action_description": "左臂爪夹向右移动并垂直下降，右臂爪夹保持不动\n", + "annotations": { + "bbox_1772076094913": { + "instances": [ + { + "height": 0.3426666387803844, + "id": "bbox_1772076094913_1772089565576_81vm70u7b", + "width": 0.3959999758300796, + "x": 0.6006665893147833, + "y": 0.5593147636462594 + } + ], + "type": "bbox" + }, + "bbox_1772076117569": { + "instances": [ + { + "height": 0.6039999508463582, + "id": "bbox_1772076117569_1772089581928_rp0x1cj5l", + "width": 0.6529999601440454, + "x": 0.0066666255696639755, + "y": 0.3086481173788967 + } + ], + "type": "bbox" + }, + "bbox_1772076135709": { + "instances": 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"爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹，右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹向右移动并垂直下降，靠近了快递盒左翼下部。方便左臂爪夹抓取快递盒左翼下部。\n", + "frame": 142, + "progress": 4, + "progress_explanation": "左臂爪夹靠近了快递盒左翼下部。方便左臂爪夹抓取快递盒左翼下部。因此进度提升为4%。\n", + "state_description": "左臂爪夹张开，靠近了快递盒左翼下部。右臂爪夹保持不动。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。\n", + "time": 4.749550306210843 + }, + { + "action_description": "左臂爪夹合拢，右臂爪夹保持不动\n", + "annotations": { + "bbox_1772076094913": { + "instances": [ + { + "height": 0.33733330588107874, + "id": "bbox_1772076094913_1772090132069_wlkd8ec88", + "width": 0.38799997631836075, + "x": 0.6036665891316779, + "y": 0.5607962520714314 + } + ], + "type": "bbox" + }, + "bbox_1772076117569": { + "instances": [ + { + "height": 0.6039999508463582, + "id": "bbox_1772076117569_1772090149744_5uxkudspk", + "width": 0.6459999605712914, + "x": 0.010666625325523354, + "y": 0.3101296058040685 + } + ], + "type": "bbox" + }, + "bbox_1772076135709": { + "instances": [ + { + "height": 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"左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹，右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹合拢，成功抓取到了快递盒左翼下部。\n", + "frame": 172, + "progress": 6, + "progress_explanation": "左臂爪夹抓取到了快递盒左翼下部，因此进度提升为6%。\n", + "state_description": "左臂爪夹合拢，抓取到了快递盒左翼下部。右臂爪夹保持不动。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹\n", + "time": 5.729962615654535 + }, + { + "action_description": "左臂爪夹保持不动，右臂爪夹向爪夹左方移动\n", + "annotations": { + "bbox_1772076094913": { + "instances": [ + { + "height": 0.3373333058810787, + "id": "bbox_1772076094913_1772090543070_xrzkirsqi", + "width": 0.38999997619629057, + "x": 0.602666589192713, + "y": 0.5606480968710857 + } + ], + "type": "bbox" + }, + "bbox_1772076117569": { + "instances": [ + { + "height": 0.6039999508463583, + "id": "bbox_1772076117569_1772090556653_uajgbu3ms", + "width": 0.6469999605102562, + "x": 0.009666625386558502, + "y": 0.3099814506037231 + } + ], + "type": "bbox" + }, + "bbox_1772076135709": { + "instances": [ + { + "height": 0.2826666436631964, + "id": 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"左臂爪夹夹紧快递盒左翼下部，接着爪夹右臂向爪夹左前方移动下降靠近包裹。爪夹右臂合拢抓取包裹，右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", 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"右臂爪夹夹紧包裹垂直升高，接着向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", 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"右臂爪夹向爪夹左方移动下降来到快递盒正上方，右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。左臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹夹紧包裹向爪夹左方移动下降，来到了快递盒正上方。方便包裹落到快递盒里。\n", + "frame": 282, + "progress": 16, + "progress_explanation": "右臂爪夹夹紧包裹位于快递盒正上方，方便包裹落到书包里，因此进度提升为16%。\n", + "state_description": "左臂爪夹夹紧快递盒左翼下部保持不动，右臂爪夹夹紧包裹位于快递盒正上方。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：右臂爪夹垂直下降将包裹放到快递盒里，右臂爪夹松开，包裹落到快递盒里。", + "time": 9.390168570910987 + }, + { + "action_description": "左臂爪夹保持不动，右臂爪夹夹紧包裹垂直下降\n", + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772093305743_017m3ij68", + "x": 0.10966661928304322, + "y": 0.3301296041764646, + "width": 0.38999997619629057, + "height": 0.5586666212022606 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772093319909_nb74gt2l9", + "x": 0.0116666252644882, + "y": 0.31812960515302696, + "width": 0.55699996600342, + "height": 0.6093332837456639 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": 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"右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹夹紧包裹垂直下降将包裹放到了快递盒里，方便包裹落到快递盒里\n", + "frame": 299, + "progress": 18, + "progress_explanation": "右臂爪夹夹紧包裹放到了快递盒里，方便包裹落到快递盒里，因此进度提升为18%。\n", + "state_description": "左臂爪夹夹紧快递盒左翼下部保持不动，右臂爪夹夹紧包裹放到了快递盒里。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：右臂爪夹松开，包裹落到快递盒里。右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧。\n", + "time": 9.978415956577201 + }, + { + "action_description": "左臂爪夹保持不动，右臂爪夹松开\n", + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772093871074_kvphry1ee", + "x": 0.10966661928304326, + "y": 0.4741295924577153, + "width": 0.4689999713745133, + "height": 0.4519999632161487 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772093885489_y58khuwqx", + "x": 0.00566662563069912, + "y": 0.31279627225372136, + "width": 0.6309999614868188, + "height": 0.6066666172960109 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": 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"右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓取快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹松开包裹落到了快递盒里，方便向快递盒右侧靠近。\n", + "frame": 317, + "progress": 20, + "progress_explanation": "左臂爪夹夹紧快递盒左翼下部，右臂爪夹张开，包裹落到了快递盒里。因此进度提升为20%。\n", + "state_description": "左臂爪夹夹紧快递盒左翼下部保持不动，右臂爪夹张开，包裹落到了快递盒里。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：右臂爪夹向爪夹方向的右方移动，直至快递盒的右侧，后下降，抓取快递盒的右侧。", + "time": 10.566663342243414 + }, + { + "action_description": "右臂爪夹向爪夹方向的右方移动并下降。\n", + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772094393424_2veqleg0h", + "x": 0.11066661922200809, + "y": 0.5907221733014183, + "width": 0.4599999719238298, + "height": 0.32933330653212006 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772094410161_773lzuxj6", + "x": 0.0056666256306991125, + "y": 0.3200555286616595, + "width": 0.6399999609375024, + "height": 0.5919999518229205 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": 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"右臂爪夹抓取快递盒的右侧，左臂爪夹张开并向爪夹方向的前方移动，直至快递盒的左侧，后下降，抓取快递盒左侧。左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", 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"左右两臂爪夹抓紧快递盒，向爪夹方向的右方移动至桌子中下部。\n右臂爪夹夹紧快递盒右侧，接着爪夹左臂松开并向爪夹正后方移动下降靠近快递盒左翼下部。爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", 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"爪夹左臂合拢抓取快递盒左翼下部。左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": 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"左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹合拢抓取到了快递盒左翼下部。\n", + "frame": 551, + "progress": 42, + "progress_explanation": "右臂爪夹夹紧快递盒右侧保持不动，左臂爪夹合拢，抓取到了快递盒左翼下部。因此进度提升为42%。\n", + "state_description": "右臂爪夹夹紧快递盒右侧保持不动，左臂爪夹合拢，抓取到了快递盒左翼下部。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。\n", + "time": 18.36639175257732 + }, + { + "action_description": "右臂爪夹保持不动，左臂爪夹夹紧快递盒左翼下部向前移动升高。\n", + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772102359551_icvxgk8lm", + "x": 0.3256666060994503, + "y": 0.5600555091304111, + "width": 0.4819999705810566, + "height": 0.36799997005208573 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772102371448_7uou8ya2l", + "x": 0.23266661177571946, + "y": 0.010722220501935182, + "width": 0.6379999610595726, + "height": 0.9239999248046936 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": 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"左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹夹紧快递盒左翼下部向前移动升高使快递盒顶部与桌面角度呈45度，方便后续移动快递盒左翼下部使快递盒顶部垂直于桌面。\n", + "frame": 576, + "progress": 44, + "progress_explanation": "左臂爪夹夹紧快递盒左翼下部使快递盒顶部与桌面角度呈45度。方便移动快递盒左翼下部使快递盒顶部垂直于桌面，因此进度提升为44%。\n", + "state_description": "右臂爪夹夹紧快递盒右侧保持不动，左臂爪夹夹紧快递盒左翼下部使快递盒顶部与桌面角度呈45度。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：左臂爪夹夹紧快递盒左翼下部向爪夹前方移动上升，直到快递盒顶部垂直于桌面。左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。\n", + "time": 19.194291665347908 + }, + { + "action_description": "右臂爪夹保持不动，左臂爪夹夹紧快递盒左翼下部向前移动升高。", + "correction_plan": "左臂爪夹继续夹紧快递盒左翼下部，爪夹右臂松开并垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹夹紧快递盒左翼下部向前移动升高使快递盒顶部垂直于桌面。", + "frame": 603, + "progress": 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"右臂爪夹垂直上升靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹松开，方便向快递盒右翼下部靠近。\n", + "frame": 622, + "progress": 48, + 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"左臂爪夹保持不动，右臂爪夹垂直升高\n", + "correction_plan": "右臂爪夹靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": 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"左臂爪夹夹紧快递盒左翼下部继续保持快递盒顶部垂直于桌面，右臂向爪夹右后方移动下降靠近快递盒右翼下部的右上角。爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹位于快递盒顶部上方，方便后续靠近快递盒右翼下部。\n", + "frame": 699, + 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"action_description": "左臂爪夹保持不动，右臂爪夹向爪夹右后方移动下降\n", + "correction_plan": "爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹向爪夹右后方移动下降靠近了快递盒右翼下部的右上角，方便抓取到快递盒右翼下部的右上角。\n", + "frame": 724, + "progress": 51, + "progress_explanation": "右臂爪夹向爪夹右移动下降。靠近了快递盒右翼下部的右上角。方便抓取快递盒右翼下部的右上角。因此进度提升为51%。\n", + "state_description": "左臂爪夹夹紧快递盒左翼下部保持不动，右臂爪夹向爪夹右移动下降。靠近了快递盒右翼下部的右上角。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：爪夹右臂合拢抓取快递盒右翼下部的右上角。右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。", + "time": 24.118144329896907, + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772158638467_oc5bbkjhy", + "x": 0.3136666068318722, + "y": 0.5716110648052112, + "width": 0.5009999694213885, + "height": 0.3639999703776066 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772158654482_elfhnup7n", + "x": 0.12766661818441047, + "y": 0.022277776176735337, + "width": 0.8419999486084014, + "height": 0.9106665925564296 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": 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"右臂爪夹继续夹紧快递盒右翼下部的右上角，爪夹左臂松开并垂直上升靠近快递盒左翼下部的左上角。爪夹左臂合拢抓取快递盒左翼下部的左上角。接着左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "右臂爪夹抓紧快递盒右翼下部的右上角向爪夹左前方移动，使快递盒右翼下部与快递盒顶部呈45度角。方便后续抓住右翼下部垂直于快递盒顶部。\n", + "frame": 759, + "progress": 53, + 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"右臂爪夹夹紧快递盒右翼下部的右上角保持不动，左臂爪夹合拢，抓取到了快递盒左翼下部的左上角。方便移动快递盒左翼下部使其垂直于快递盒顶部，因此进度提升为56%。\n", + "state_description": "右臂爪夹夹紧快递盒右翼下部的右上角保持不动，左臂爪夹合拢，抓取到了快递盒左翼下部的左上角。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当：左右两臂爪夹夹紧快递盒两翼下部分别向爪夹的右前方和左前方移动直至快递盒两翼下部垂直于快递盒顶部。左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。\n", + "time": 27.516907216494847, + "annotations": { + "bbox_1772076094913": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076094913_1772161675731_fkug592hn", + "x": 0.3176666065877315, + "y": 0.5769443977045168, + "width": 0.49199996997070494, + "height": 0.3533333045789954 + } + ] + }, + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772161687361_h6hz3v6lx", + "x": 0.1486666169026723, + "y": 0.018277776502256145, + "width": 0.8019999510498076, + "height": 0.9226665915798672 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": "point_1772076162270_1772161697090_xmqie9cl2", + "x": 0.20266661360677407, + "y": 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"左右两臂爪夹夹紧快递盒两翼下部向前移动下降，直到快递盒两翼下部下降到与快递盒底部呈45度。左右两臂爪夹松开，向前移动并垂直上升。左右臂爪夹分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼下部落入快递盒中。\n左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，爪夹左臂松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后爪夹左臂合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，爪夹右臂松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后爪夹右臂合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左臂爪夹抓住快递盒左翼下部的左上角向爪夹方向的右前方移动，右臂爪夹抓住快递盒右翼下部的右上角向爪夹方向的左前方移动。\n", + "frame": 849, + "progress": 58, + "progress_explanation": "当前左右两臂爪夹抓住快递盒两翼下部向前移动，使快递盒两翼下部垂直于快递盒顶部，因此进度提升至58%。\n", + "state_description": 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"左右两臂爪夹合拢，分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直上升直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直上升直到快递盒垂直于桌面。右臂爪夹按住快递盒右侧，左臂爪夹松开并向爪夹左方移动上升，后下降靠近快递盒左翼上部。靠近快递盒左翼上部后左臂爪夹合拢抓取快递盒左翼上部。爪夹左臂夹紧快递盒左翼上部，右臂爪夹松开并向爪夹右方移动上升，后下降靠近快递盒右翼上部。靠近快递盒右翼上部后右臂爪夹合拢抓取快递盒右翼上部。接着左右两臂爪夹夹紧快递盒两翼上部分别向爪夹的右前方和左前方移动直至快递盒两翼上部垂直于快递盒前部。左右两臂爪夹抓紧快递盒两翼上部向后移动并下降。快递盒两翼上部下降到与快递盒前部呈45度后，左右两臂爪夹松开，向后移动并合拢爪夹。接着左右臂爪夹垂直上升并分别移动到快递盒顶部的左下角上方与右下角上方，后下降并按住快递盒顶部向下移动，直到快递盒两翼上部插入快递盒中。\n左右两臂爪夹分别向左、右移动并垂直下降。靠近快递盒两侧后左右两臂爪夹按住快递盒两侧向前移动并垂直下降直到快递盒与桌面呈45度。接着左右两臂爪夹按住快递盒两侧向后移动并垂直下降直到快递盒落在桌面上。左右两臂爪夹向后移动并分别向右方、左方移动。靠近快递盒前部左右端后左右两臂爪夹按住快递盒前部左右两端，向前移动至桌子中上部。左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左右两臂爪夹垂直下降，按住快递盒顶部向下移动，使快递盒两翼下侧落在快递盒中。\n", + "frame": 1033, + "progress": 68, + "progress_explanation": "左右两臂爪夹按住快递盒顶部向下移动，使快递盒两翼下侧落在快递盒中，因此进度提升至68%。\n", + "state_description": "当前状态为左右两臂爪夹张开，左右两臂爪夹按住快递盒顶部，快递盒两翼下侧落在快递盒中。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当:左右两臂爪夹合拢，分别向左、右移动并垂直下降。\n", + "time": 34.44515463917526, + "annotations": { + "bbox_1772076117569": { + 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0.4449444084467034, + "width": 0.5679999653320333, + "height": 0.4626666290147601 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076135709_1772183711897_w5cwlvw3j", + "x": 0.36466660371907933, + "y": 0.25294442407170215, + "width": 0.39199997607422016, + "height": 0.32399997363281474 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": "point_1772076162270_1772183723848_5da6785r9", + "x": 0.21566661281331706, + "y": 0.8809443729649354 + } + ] + }, + "point_1772076183044": { + "type": "point", + "instances": [ + { + "id": "point_1772076183044_1772183726327_gjkg4p3fn", + "x": 0.7026665830891978, + "y": 0.90894437068629 + } + ] + } + } + }, + { + "action_description": "左右两臂爪夹按住快递盒前部向后移动。", + "correction_plan": "左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "error_success_analysis": "左右两臂爪夹按住快递盒前部，移动到桌子中上部。", + "frame": 1686, + "progress": 98, + "progress_explanation": "当前左右两臂爪夹按住快递盒前部向后移动，停留在桌子中上部，因此进度提升至98%。", + "state_description": "当前状态为左臂爪夹合拢，右臂爪夹合拢，左右两臂爪夹按住快递盒前部移动到桌子中上部。\n为完成用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务应当:左臂爪夹远离快递盒，右臂爪夹远离快递盒。", + "time": 56.1885161416899, + "annotations": { + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772184077290_2rbf8fkc3", + "x": 0.2566666103108758, + "y": 0.30227775339027885, + "width": 0.4509999724731462, + "height": 0.31733330750868266 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076135709_1772184089850_vfex9wi5q", + "x": 0.222666612386071, + "y": 0.2649444230951397, + "width": 0.5189999683227559, + "height": 0.37999996907552336 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": "point_1772076162270_1772184093425_cxfmrxpi0", + "x": 0.27666660909017277, + "y": 0.5582777325569472 + } + ] + } + } + }, + { + "action_description": "左臂爪夹张开并向爪夹左方移动升高，右臂爪夹张开向爪夹右方移动升高。\n", + "correction_plan": "", + "error_success_analysis": "左臂爪夹远离了快递盒，右臂爪夹远离了快递盒。任务完成。\n", + "frame": 1709, + "progress": 100, + "progress_explanation": "左臂远离快递盒，右臂远离快递盒。因此进度提升为100%。\n", + "state_description": "左臂爪夹远离了快递盒，右臂爪夹远离了快递盒。\n用双臂将包裹放入快递盒，接着将快递盒关闭并放在桌子中上部的任务目标完成。\n", + "time": 56.97284598924485, + "annotations": { + "bbox_1772076117569": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076117569_1772184445849_vc6u6uamm", + "x": 0.2636666098836297, + "y": 0.2969444204909733, + "width": 0.43799997326660334, + "height": 0.33466663943142577 + } + ] + }, + "bbox_1772076135709": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772076135709_1772184459681_73p0back2", + "x": 0.2456666109822625, + "y": 0.26627775631996614, + "width": 0.49799996960449383, + "height": 0.39466663454861367 + } + ] + }, + "point_1772076162270": { + "type": "point", + "instances": [ + { + "id": "point_1772076162270_1772184467938_yrbvugb1e", + "x": 0.29466660799154, + "y": 0.5849443970534751 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1772076094913", + "name": "包裹" + }, + { + "color": "#FF9800", + "id": "bbox_1772076117569", + "name": "快递盒" + }, + { + "color": "#2196F3", + "id": "bbox_1772076135709", + "name": "桌子中上部" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1772076146102", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1772076162270", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1772076183044", + "name": "右臂抓夹左" + }, + { + "color": "#FF9800", + "id": "point_1772076190628", + "name": "右臂抓夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000026.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000026.json new file mode 100644 index 0000000000000000000000000000000000000000..2fc0fc3f756ef36b83a00d8fef957e5a95b687a0 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000026.json @@ -0,0 +1,2892 @@ +{ + "task_description": "用双臂拿起饮料瓶拧开盖子后将饮料倒入杯子然后拧上盖子最后放回原位：\n[左臂]和[右臂]爪夹准备移动:0%\n[左臂]爪夹抓取饮料瓶,[右臂]爪夹保持不动:10%\n[左臂]爪夹抓取饮料瓶,[右臂]爪夹抓取饮料盖子:20%\n[左臂]爪夹抓取饮料瓶,[右臂]爪夹将饮料盖子拧开:35%\n[左臂]爪夹抓取饮料瓶将饮料倒入杯子,[右臂]爪夹将盖子拿开:40%\n[左臂]爪夹抓取饮料瓶移动至杯子后方,[右臂]爪夹抓取盖子移动至饮料瓶正上方:50%\n[左臂]爪夹抓取饮料瓶,[右臂]盖上盖子后将饮料盖子拧紧:75%\n[左臂]爪夹抓取饮料瓶移动至木托正上方,[右臂]移动至一旁:80%\n[左臂]爪夹抓取饮料瓶下降至木托上,[右臂]爪夹保持不动:90%\n[左臂]爪夹松开使饮料瓶落在木托上,[右臂]爪夹保持不动:100%", + "progress_points": [ + { + "action_description": "当前[左臂]和[右臂]爪夹准备移动.", + "correction_plan": 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"action_description": "[左臂]爪夹倾斜瓶身使饮料瓶中的饮料倒入杯子,[右臂]爪夹保持不动.", + "correction_plan": "[左臂]爪夹略微抬起瓶身停止将饮料倒入杯子,[右臂]爪夹保持不动,[左臂]爪夹抓取饮料瓶向爪夹方向左边移动,[右臂]爪夹保持不动,[左臂]爪夹抓取饮料瓶向爪夹方向右后方移动,[右臂]爪夹保持不动,[左臂]爪夹向爪夹方向右边移动至杯子正前方,[右臂]爪夹抓取瓶盖向爪夹方向左下方移动至瓶子正上方,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖向垂直下降将瓶盖盖上,[左臂]爪夹保持不动,[右臂]爪夹转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹再次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹第三次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹第四次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹第五次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹第六次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开,[左臂]爪夹保持不动,[右臂]爪夹抓取瓶盖,[左臂]爪夹保持不动,[右臂]爪夹第七次转动瓶盖,[左臂]爪夹保持不动,[右臂]爪夹松开并略微向爪夹方向左前方移动,[左臂]爪夹保持不动,[右臂]爪夹向爪夹方向右上方移动,[左臂]爪夹抓取饮料瓶向爪夹方向左边移动,[右臂]爪夹保持不动,[左臂]爪夹抓取饮料瓶向爪夹方向前方移动至木托正上方,[右臂]爪夹保持不动,[左臂]爪夹抓取饮料瓶向爪夹方向右下方移动至木托上,[右臂]爪夹保持不动,[左臂]爪夹松开使饮料瓶落在木托上,[右臂]爪夹保持不动.", + "error_success_analysis": "当前[左臂]爪夹倾斜瓶身成功使饮料瓶中的饮料倒入杯子,[右臂]爪夹保持不动.", + "frame": 1248, + "progress": 40, 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}, + { + "id": "point_1772179263010", + "name": "[左臂]爪夹右", + "color": "#F44336" + }, + { + "id": "point_1772179263710", + "name": "[右臂]爪夹左", + "color": "#4CAF50" + }, + { + "id": "point_1772179264138", + "name": "[右臂]爪夹右", + "color": "#FF9800" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000036.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000036.json new file mode 100644 index 0000000000000000000000000000000000000000..2b3d9da79e4d76ca38dabe4f93d36b6ad6762446 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000036.json @@ -0,0 +1,3723 @@ +{ + "task_description": "整理工业部分\n准备开始移动：0%\n[左臂]抓取第一个物品，[右臂]抓取第二个物品：10%\n[左臂]抓取第一个物品放入收纳盒，[右臂]抓取第二个物品放入收纳盒：25%\n[左臂]抓取第三个物品，[右臂]抓取第四个物品：35%\n[左臂]抓取第三个物品放入收纳盒，[右臂]抓取第四个物品放入收纳盒：50%\n[左臂]抓取第五个物品，[右臂]抓取第六个物品：60%\n[左臂]抓取第五个物品放入收纳盒，[右臂]抓取第六个物品放入收纳盒：75%\n[左臂]抓取第七个物品，[右臂]抓取第八个物品：85%\n[左臂]抓取第七个物品放入收纳盒，[右臂]抓取第八个物品放入收纳盒：95%\n[左臂]远离收纳盒，[右臂]远离收纳盒：100%", + "progress_points": [ + { + "time": 1.7331615252577317, + "frame": 52, + "progress": 0, + "action_description": "双臂处于屏幕外，都未开始移动。", + "state_description": "当前状态为初始状态，双臂都处于屏幕外远离目标物。未开始移动。\n为完成整理工业部分的任务：爪夹左臂向爪夹前方移动过程中调整爪夹角度使其垂直于桌面，爪夹右臂向爪夹向爪夹的下方移动。", + "progress_explanation": "当前为初始状态，爪夹左右臂未开始移动，因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹左臂向爪夹前方移动过程中调整爪夹角度使其垂直于桌面，爪夹右臂向爪夹向爪夹的下方移动。接着爪夹左臂向爪夹的右后方移动，爪夹右臂向爪夹的左方移动，爪夹右臂向爪夹的下方移动至第二个物品旁边，爪夹左臂向爪夹下方移动至第一个物品的上方。爪夹右臂未能完全合拢爪夹抓取第二个物品，爪夹左臂移动至第一个物品旁边，爪夹右臂完全合拢夹取第二个物品爪夹左臂爪夹未能完全合拢夹取第一个物品。爪夹右臂向爪夹的上方移动的同时调整爪夹角度使爪夹平行于桌面，爪夹左臂合拢爪夹夹取第一个物品。爪夹右臂向爪夹上方移动的同时爪夹左臂夹取第一个物品向爪夹的上方移动。双臂同时向爪夹的前下方移动至收纳盒的上方，接着双臂同时张开，使第一个物品和第二个物品落入收纳盒里。双臂同时向爪夹的后上方移动，爪夹右臂移动的同时调整角度使爪夹垂直于桌面。爪夹左臂向爪夹的右方移动，爪夹右臂的爪夹调整爪夹方向，双臂同时向爪夹的下方移动，爪夹左臂移动至第三个物品的旁边爪夹右臂继续向爪夹的下方移动，爪夹左臂合拢爪夹未完全夹取第三个物品爪夹右臂移动至第四个物品的旁边。爪夹左臂爪夹完全合拢夹取都三个物品，爪夹右臂爪夹未完全合拢。爪夹左臂向爪夹上方移动，爪夹右臂的爪夹完全合拢夹取第四个物品，接着双臂都向爪夹的上方移动，爪夹左臂向爪夹的前下方向移动，爪夹右臂继续向爪夹的后上方移动同时调整爪夹角度使爪夹平行桌面。爪夹左臂向爪夹前下方移动至收纳盒上方，爪夹右臂开始向爪夹的前下方向移动，爪夹左臂的爪夹张开第三个物品落入收纳盒，爪夹右臂向爪夹的前下方移动至收纳盒的上方，爪夹左臂继续张开直至完全张开，爪夹右臂张开爪夹第四个物品落入收纳盒里。双臂向爪夹的后上方移动，爪夹右臂在移动的同时调整爪夹的角度使爪夹垂直桌面，爪夹左臂向爪夹的右后方移动，接着爪夹右臂向爪夹的下方移动至第六个物品的旁边，爪夹左臂向爪夹的下方移动到第五个物品的上方。爪夹右臂的爪夹合拢夹取第六个物品，爪夹左臂向爪夹的下方移动至第五个物品的旁边。爪夹左臂的爪夹合拢抓取第五个物品，爪夹右臂向爪夹的上方移动。随后爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动至收纳盒上方，爪夹左臂向爪夹的前下方向移动至收纳盒上方爪夹右臂张开爪夹第六个物品落入收纳盒里。接着爪夹左臂的爪夹张开第五个物品落入收纳盒里爪夹右臂向爪夹的后上方移动，双臂向爪夹的后上方移移动过程中调整爪夹的方向。接着爪夹左臂向爪夹的下方移动至第七个物品的上方，爪夹右臂向爪夹的下方移动至第八个物品的旁边，爪夹左臂向爪夹的下方移动至第七个物品的旁边爪夹右臂的爪夹合拢抓取第八个物品。随后爪夹左臂的爪夹合拢夹取第七个物品爪夹右臂向爪夹的上方移动，双臂向爪夹的上方移动，爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动。随后爪夹左臂向爪夹的前下方移动向收纳盒靠近，爪夹右臂向爪夹的前下方移动至收纳盒的上方。爪夹左臂继续向爪夹的前下方移动至收纳盒的上方爪夹右臂的爪夹张开，第八个物品落入收纳盒里。接着爪夹左臂的爪夹张开第七个物品落入收纳盒里。最后双臂向爪夹的后上方移动远离收纳盒。", 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"爪夹左臂向爪夹上方移动，爪夹右臂的爪夹完全合拢夹取第四个物品，接着双臂都向爪夹的上方移动，爪夹左臂向爪夹的前下方向移动，爪夹右臂继续向爪夹的后上方移动同时调整爪夹角度使爪夹平行桌面。爪夹左臂向爪夹前下方移动至收纳盒上方，爪夹右臂开始向爪夹的前下方向移动，爪夹左臂的爪夹张开第三个物品落入收纳盒，爪夹右臂向爪夹的前下方移动至收纳盒的上方，爪夹左臂继续张开直至完全张开，爪夹右臂张开爪夹第四个物品落入收纳盒里。双臂向爪夹的后上方移动，爪夹右臂在移动的同时调整爪夹的角度使爪夹垂直桌面，爪夹左臂向爪夹的右后方移动，接着爪夹右臂向爪夹的下方移动至第六个物品的旁边，爪夹左臂向爪夹的下方移动到第五个物品的上方。爪夹右臂的爪夹合拢夹取第六个物品，爪夹左臂向爪夹的下方移动至第五个物品的旁边。爪夹左臂的爪夹合拢抓取第五个物品，爪夹右臂向爪夹的上方移动。随后爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动至收纳盒上方，爪夹左臂向爪夹的前下方向移动至收纳盒上方爪夹右臂张开爪夹第六个物品落入收纳盒里。接着爪夹左臂的爪夹张开第五个物品落入收纳盒里爪夹右臂向爪夹的后上方移动，双臂向爪夹的后上方移移动过程中调整爪夹的方向。接着爪夹左臂向爪夹的下方移动至第七个物品的上方，爪夹右臂向爪夹的下方移动至第八个物品的旁边，爪夹左臂向爪夹的下方移动至第七个物品的旁边爪夹右臂的爪夹合拢抓取第八个物品。随后爪夹左臂的爪夹合拢夹取第七个物品爪夹右臂向爪夹的上方移动，双臂向爪夹的上方移动，爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动。随后爪夹左臂向爪夹的前下方移动向收纳盒靠近，爪夹右臂向爪夹的前下方移动至收纳盒的上方。爪夹左臂继续向爪夹的前下方移动至收纳盒的上方爪夹右臂的爪夹张开，第八个物品落入收纳盒里。接着爪夹左臂的爪夹张开第七个物品落入收纳盒里。最后双臂向爪夹的后上方移动远离收纳盒。", + "annotations": { + "bbox_1772071186530": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071186530_1772102638607_9xd6hqsf5", + "x": 0.36950000000000005, + "y": 0.728, + "width": 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"双臂都向爪夹的上方移动，爪夹左臂向爪夹的前下方向移动，爪夹右臂继续向爪夹的后上方移动同时调整爪夹角度使爪夹平行桌面。爪夹左臂向爪夹前下方移动至收纳盒上方，爪夹右臂开始向爪夹的前下方向移动，爪夹左臂的爪夹张开第三个物品落入收纳盒，爪夹右臂向爪夹的前下方移动至收纳盒的上方，爪夹左臂继续张开直至完全张开，爪夹右臂张开爪夹第四个物品落入收纳盒里。双臂向爪夹的后上方移动，爪夹右臂在移动的同时调整爪夹的角度使爪夹垂直桌面，爪夹左臂向爪夹的右后方移动，接着爪夹右臂向爪夹的下方移动至第六个物品的旁边，爪夹左臂向爪夹的下方移动到第五个物品的上方。爪夹右臂的爪夹合拢夹取第六个物品，爪夹左臂向爪夹的下方移动至第五个物品的旁边。爪夹左臂的爪夹合拢抓取第五个物品，爪夹右臂向爪夹的上方移动。随后爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动至收纳盒上方，爪夹左臂向爪夹的前下方向移动至收纳盒上方爪夹右臂张开爪夹第六个物品落入收纳盒里。接着爪夹左臂的爪夹张开第五个物品落入收纳盒里爪夹右臂向爪夹的后上方移动，双臂向爪夹的后上方移移动过程中调整爪夹的方向。接着爪夹左臂向爪夹的下方移动至第七个物品的上方，爪夹右臂向爪夹的下方移动至第八个物品的旁边，爪夹左臂向爪夹的下方移动至第七个物品的旁边爪夹右臂的爪夹合拢抓取第八个物品。随后爪夹左臂的爪夹合拢夹取第七个物品爪夹右臂向爪夹的上方移动，双臂向爪夹的上方移动，爪夹左臂向爪夹的上方移动，爪夹右臂向爪夹的前下方向移动。随后爪夹左臂向爪夹的前下方移动向收纳盒靠近，爪夹右臂向爪夹的前下方移动至收纳盒的上方。爪夹左臂继续向爪夹的前下方移动至收纳盒的上方爪夹右臂的爪夹张开，第八个物品落入收纳盒里。接着爪夹左臂的爪夹张开第七个物品落入收纳盒里。最后双臂向爪夹的后上方移动远离收纳盒。", + "annotations": { + "bbox_1772071186093": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071186093_1772102668660_ypz8bfro6", + "x": 0.2935, + "y": 0.8213333333333334, + "width": 0.12500000000000006, + "height": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000038.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000038.json new file mode 100644 index 0000000000000000000000000000000000000000..186f45cb2b63636125252e1abc095233936a8e11 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000038.json @@ -0,0 +1,1573 @@ +{ + "task_description": "用双臂将纸箱中的瓶子拧开瓶盖，接着将瓶子放回纸箱里，将瓶盖放在桌面上。\n准备开始移动：0%\n[左臂]靠近瓶子，[右臂]等待移动：10%\n[左臂]抓取瓶子，[右臂]等待移动：20%\n[左臂]将瓶子拿出纸箱，[右臂]等待移动：30%\n[左臂]抓取瓶子保持静止，[右臂]靠近瓶盖：50%\n[左臂]抓取瓶子保持静止，[右臂]夹取瓶盖：60%\n[左臂]抓取瓶子保持静止，[右臂]将瓶盖打开：80%\n[左臂]将瓶子放回纸箱里，[右臂]将瓶盖放到桌面上：90%\n[左臂]远离瓶子，[右臂]远离瓶盖：100%", + "progress_points": [ + { + "action_description": "爪夹左臂和爪夹右臂处于屏幕外，都未开始移动\n", + "correction_plan": "爪夹左臂向爪夹方向右前方移动下降爪夹右臂等待移动，爪夹左臂向爪夹方向前方靠近瓶子，右臂继续等待移动，爪夹左臂准备抓取瓶子，爪夹右臂继续等待移动，爪夹左臂合拢抓取瓶子，爪夹右臂继续等待移动。爪夹左臂抓紧瓶子，将瓶子从纸箱中拿出，爪夹右臂继续等待移动，接着爪夹左臂紧紧抓取瓶子在半空中保持静止，爪夹右臂开始准备移动。爪夹左臂继续紧紧抓取瓶子在半空中保持静止，爪夹右臂调整爪夹角度靠近瓶盖，靠近后爪夹左臂继续紧紧抓取瓶子保持在半空中静止，爪夹右臂开始夹取瓶盖，然后爪夹左臂继续抓取瓶子保持静止在半空中，爪夹右臂抓紧瓶盖进行逆时针旋转将瓶盖打开。爪夹左臂抓取瓶子将瓶子放回纸箱，爪夹右臂调整角度使爪夹右臂垂直于桌面将瓶盖放到桌面上。爪夹左臂远离瓶子，爪夹右臂远离瓶子。", + "error_success_analysis": "", + "frame": 106, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹左右臂未开始移动，因此进度为0%。", + "state_description": "当前为初始状态爪夹左臂和爪夹右臂处于屏幕外，都未开始移动\n为完成用双臂将纸箱中的瓶子拧开盖子，接着将瓶子放回纸箱里，将瓶盖放在桌面上的任务应当：爪夹左臂向爪夹方向右前方移动下降靠近瓶子，爪夹右臂等待移动", + "time": 3.519560086716118, + "annotations": { + "bbox_1772155560431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155560431_1772155643919_tfjvkcras", + "x": 0.4657777425672765, + "y": 0.001833323011611083, + "width": 0.10699999346923858, + "height": 0.3333333062065994 + } + ] + }, + "bbox_1772155560887": { + "type": "bbox", + "instances": [ + { + "id": 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"爪夹左臂张开，爪夹左臂水平和垂直上接近了瓶子。爪夹右臂保持不动。\n为完成用双臂将纸箱中的瓶子拧开盖子，接着将瓶子放回纸箱里，将瓶盖放在桌面上的任务应当：爪夹左臂向爪夹方向前方靠近瓶子，右臂继续等待移动。", + "time": 5.222573870157081, + "annotations": { + "bbox_1772155560431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155560431_1772155678111_rinl8icpc", + "x": 0.5437777378065345, + "y": 0.29516663247341857, + "width": 0.022999998596191507, + "height": 0.03466666384548637 + } + ] + }, + "bbox_1772155561479": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155561479_1772155719399_46dhpntz7", + "x": 0.456625, + "y": 0.34253125, + "width": 0.36199999999999993, + "height": 0.14666666666666667 + } + ] + } + } + }, + { + "action_description": "爪夹左臂向爪夹方向前方移动，爪夹右臂保持不动", + "correction_plan": "爪夹左臂合拢抓取瓶子，爪夹右臂继续等待移动。爪夹左臂抓紧瓶子，将瓶子从纸箱中拿出，爪夹右臂继续等待移动，接着爪夹左臂紧紧抓取瓶子在半空中保持静止，爪夹右臂开始准备移动。爪夹左臂继续紧紧抓取瓶子在半空中保持静止，爪夹右臂调整爪夹角度靠近瓶盖，靠近后爪夹左臂继续紧紧抓取瓶子保持在半空中静止，爪夹右臂开始夹取瓶盖，然后爪夹左臂继续抓取瓶子保持静止在半空中，爪夹右臂抓紧瓶盖进行逆时针旋转将瓶盖打开。爪夹左臂抓取瓶子将瓶子放回纸箱，爪夹右臂调整角度使爪夹右臂垂直于桌面将瓶盖放到桌面上。爪夹左臂远离瓶子，爪夹右臂远离瓶子。", + "error_success_analysis": "爪夹左臂向爪夹方向前方移动靠近了瓶子，方便爪夹左臂抓取瓶子。", + "frame": 206, + "progress": 10, + "progress_explanation": "爪夹左臂向爪夹方向前方移动靠近了瓶子，爪夹右臂未开始移动。因此进度提升为10%", + "state_description": "爪夹左臂向爪夹方向前方移动靠近瓶子，爪夹右臂保持不动\n为完成用双臂将纸箱中的瓶子拧开盖子，接着将瓶子放回纸箱里，将瓶盖放在桌面上的任务应当：爪夹左臂合拢抓取瓶子，爪夹右臂继续等待移动。", + "time": 6.868820527483346, + "annotations": { + "bbox_1772155560887": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155560887_1772155702183_nejkand3e", + "x": 0.525625, + "y": -0.00146875, + "width": 0.05799999999999992, + "height": 0.013333333333333334 + } + ] + }, + "bbox_1772155561479": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155561479_1772155711127_8ie2xhsec", + "x": 0.22762500000000002, + "y": 0.10386458333333334, + "width": 0.5850000000000001, + "height": 0.37866666666666665 + } + ] + } + } + }, + { + "action_description": "爪夹左臂合拢，，爪夹右臂保持不动。", + "correction_plan": "爪夹左臂抓紧瓶子，将瓶子从纸箱中拿出，爪夹右臂继续等待移动，接着爪夹左臂紧紧抓取瓶子在半空中保持静止，爪夹右臂开始准备移动。爪夹左臂继续紧紧抓取瓶子在半空中保持静止，爪夹右臂调整爪夹角度靠近瓶盖，靠近后爪夹左臂继续紧紧抓取瓶子保持在半空中静止，爪夹右臂开始夹取瓶盖，然后爪夹左臂继续抓取瓶子保持静止在半空中，爪夹右臂抓紧瓶盖进行逆时针旋转将瓶盖打开。爪夹左臂抓取瓶子将瓶子放回纸箱，爪夹右臂调整角度使爪夹右臂垂直于桌面将瓶盖放到桌面上。爪夹左臂远离瓶子，爪夹右臂远离瓶子。", + "error_success_analysis": "爪夹左臂合拢，成功抓取到了瓶子，方便爪夹左臂对瓶子进行移动", + "frame": 240, + "progress": 20, + "progress_explanation": "爪夹左臂合拢，紧紧抓到了瓶子。因此进度提升为20%", + "state_description": "爪夹左臂合拢，抓取到瓶子。爪夹右臂保持不动。\n为完成用双臂将纸箱中的瓶子拧开盖子，接着将瓶子放回纸箱里，将瓶盖放在桌面上的任务应当：爪夹左臂抓紧瓶子，将瓶子从纸箱中拿出，爪夹右臂继续等待移动", + "time": 7.991549, + "annotations": { + "bbox_1772155561479": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772155561479_1772156813931_p2hlgk96k", + "x": 0.583625, + "y": 0.21053125, + "width": 0.2910000000000002, + "height": 0.2733333333333333 + } + ] + } + } + }, + { + "action_description": "爪夹左臂夹紧瓶子向爪夹方向上方升高，爪夹右臂保持不动。", + "correction_plan": 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+ "name": "爪夹左臂右", + "color": "#F44336" + }, + { + "id": "point_1772155563087", + "name": "爪夹右臂左", + "color": "#4CAF50" + }, + { + "id": "point_1772155563278", + "name": "爪夹右臂右", + "color": "#FF9800" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000052.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000052.json new file mode 100644 index 0000000000000000000000000000000000000000..6b83d2618e928c144dfa430bc9543edc55fe71c2 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000052.json @@ -0,0 +1,1125 @@ +{ + "task_description": "用双臂将油瓶盖拧开\n准备开始移动：0%\n[左臂] 靠近油瓶：10%\n[左臂] 抓住油瓶：20%\n[左臂] 将油瓶移向桌子上方：30%\n[左臂] 将油瓶放在桌子上：40%\n[右臂] 靠近油瓶盖：50%\n[右臂] 抓住油瓶盖：60%\n[右臂] 拧开油瓶盖：70%\n[左臂] 将油瓶向蓝色盒子移动，接近蓝色盒子，[右臂] 将油瓶盖移向桌子右侧，松开油瓶盖：80%\n[左臂] 将油瓶放在蓝色盒子里 ：90%，\n[左臂] 松开并离开油瓶，[右臂] 离开油瓶盖：100%", + "progress_points": [ + { + "action_description": "爪夹左臂张开，爪夹右臂处于屏幕外，都未开始移动\n", + "annotations": { + "bbox_1771995897500": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771995897500_1772004775806_lqs9187nf", + "x": 0.5186665943196658, + "y": 0.027462959597740918, + "width": 0.1259999923095708, + "height": 0.4053333003472249 + } + ] + }, + "bbox_1771995902780": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1771995902780_1772005170758_tv6kbnmgc", + "x": 0.5393749999999999, + "y": -0.0008020833333333334, + "width": 0.10200000000000005, + "height": 0.07333333333333332 + } + ] + }, + "bbox_1772004839414": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772004839414_1772005178126_02y3n2q8a", + "x": 0.250375, + "y": 0.00053125, + "width": 0.5640000000000001, + "height": 0.452 + } + ] + } + }, + "correction_plan": "爪夹左臂向爪夹右前方移动，然后再向下降，靠近油瓶，靠近后爪夹左臂合拢抓取油瓶，左臂爪夹抓紧油瓶向上抬升，然后爪夹左后方移动再向右方移动，将油瓶放到桌子上。左臂爪夹夹紧油瓶，接着爪夹右臂向爪夹左方移动下降靠近油瓶盖。爪夹右臂合拢抓取油瓶盖，右臂爪夹夹紧油瓶盖逆时针旋转，多次逆时针旋转，右臂爪夹拧开油瓶盖，接着左臂爪夹夹紧油瓶向爪夹左方移动并升高，同时右臂爪夹向右方移动，到达到蓝色盒子右下角附近，接下来左臂爪夹向前方移动接近蓝色盒子。来到蓝色盒子正上方，左臂爪夹垂直下降将油瓶放进蓝色盒子里，右臂左臂爪夹松开，左臂爪夹远离油瓶位置，右臂爪夹远离油瓶盖位置。", + "error_success_analysis": "", + "frame": 72, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹左右臂未开始移动，因此进度为0%。\n", + "state_description": "当前为初始状态爪夹左臂张开，爪夹右臂处于屏幕外，远离目标物。未开始移动。\n为完成用双臂将油瓶盖拧开的任务应当：爪夹左臂向爪夹右前方移动，然后再向下降，靠近油瓶，靠近后爪夹左臂合拢抓取油瓶。\n", + "time": 2.398453608247423 + }, + { + "action_description": "左臂爪夹向爪夹右前方移动，爪夹右臂处于屏幕外\n", + "correction_plan": "然后再向下降，靠近油瓶，靠近后爪夹左臂合拢抓取油瓶，左臂爪夹抓紧油瓶向上抬升，然后爪夹左后方移动再向右方移动，将油瓶放到桌子上。左臂爪夹夹紧油瓶，接着爪夹右臂向爪夹左方移动下降靠近油瓶盖。爪夹右臂合拢抓取油瓶盖，右臂爪夹夹紧油瓶盖逆时针旋转，多次逆时针旋转，右臂爪夹拧开油瓶盖，接着左臂爪夹夹紧油瓶向爪夹左方移动并升高，同时右臂爪夹向右方移动，到达到蓝色盒子右下角附近，接下来左臂爪夹向前方移动接近蓝色盒子。来到蓝色盒子正上方，左臂爪夹垂直下降将油瓶放进蓝色盒子里，右臂左臂爪夹松开，左臂爪夹远离油瓶位置，右臂爪夹远离油瓶盖位置。", + "error_success_analysis": "左臂爪夹向爪夹右前方移动，缩短了与油瓶的距离，方便抓取油瓶。", + "frame": 127, + "progress": 5, + "progress_explanation": "左臂爪夹向爪夹右前方移动，缩短了与油瓶的距离，因此进度提升为5%。", + "state_description": "左臂爪夹向爪夹右前方移动，爪夹右臂处于屏幕外。\n为完成用双臂将油瓶盖拧开的任务应当：然后再向下降，靠近油瓶，靠近后爪夹左臂合拢抓取油瓶。\n", + "time": 4.230605670103093, + "annotations": { + "bbox_1772004839414": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772004839414_1772005185150_4ad9201sh", + "x": 0.25437499999999996, + "y": 0.03386458333333333, + "width": 0.5579999999999999, + "height": 0.40800000000000003 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向下移动", + "correction_plan": "靠近后爪夹左臂合拢抓取油瓶，左臂爪夹抓紧油瓶向上抬升，然后爪夹左后方移动再向右方移动，将油瓶放到桌子上。左臂爪夹夹紧油瓶，接着爪夹右臂向爪夹左方移动下降靠近油瓶盖。爪夹右臂合拢抓取油瓶盖，右臂爪夹夹紧油瓶盖逆时针旋转，多次逆时针旋转，右臂爪夹拧开油瓶盖，接着左臂爪夹夹紧油瓶向爪夹左方移动并升高，同时右臂爪夹向右方移动，到达到蓝色盒子右下角附近，接下来左臂爪夹向前方移动接近蓝色盒子。来到蓝色盒子正上方，左臂爪夹垂直下降将油瓶放进蓝色盒子里，右臂左臂爪夹松开，左臂爪夹远离油瓶位置，右臂爪夹远离油瓶盖位置。", + "error_success_analysis": "左臂爪夹垂直向下移动，靠近了油瓶。方便抓取。\n", + "frame": 167, + "progress": 10, + "progress_explanation": "左臂爪夹向下移动，靠近了油瓶。方便抓取，因此进度提升为10%。\n", + "state_description": 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000061.json @@ -0,0 +1,2693 @@ +{ + "task_description": "用双臂爪夹将衣服叠成方块，放在桌面左上角。\n准备开始移动：0%\n双臂爪夹抓住衣服完成第一次折叠：20%\n双臂爪夹抓住衣服完成第二次折叠：40%\n双臂爪夹抓住衣服完成第三次折叠：60%\n双臂爪夹抓住衣服完成第四次折叠：80%\n左臂爪夹抵住衣服向左臂爪夹的左侧靠近：95%\n左臂爪夹移动到桌面左侧，接着向爪夹的上方移动：99%\n左臂爪夹抵住衣服移动到桌面左上角后松开爪夹，向爪夹的上方抬起离开：100%", + "progress_points": [ + { + "action_description": "左臂爪夹保持打开状态，准备开始移动。\n", + "correction_plan": "左臂爪夹向爪夹的左下方移动，靠近衣服下方衣肩处，并合拢爪夹抓住衣服左下角衣肩。右臂爪夹向爪夹的左上方移动，靠近衣服右上角衣角。后下降，抓取衣服。将衣服向爪夹的前方移动。左臂爪夹向爪夹的前方移动，到达衣领处，然后下降抓取衣服向左拉，右臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", + "error_success_analysis": "", + "frame": 87, + "progress": 0, + "progress_explanation": "目前左臂爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为左臂爪夹张开，没有移动，没有触碰衣服。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当:左臂爪夹向爪夹的左下方移动，靠近衣服下方衣肩处，并合拢爪夹抓住衣服左下角衣肩。\n", + "time": 2.8873195948453607, + "annotations": { + "bbox_1770694569141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770694569141_1772178618521_tq2wlenf4", + "x": 0.0972749574212097, + "y": -0.0009375000000000001, + "width": 0.7910123595681183, + "height": 0.9346666666666666 + } + ] + } + } + }, + { + "time": 4.849521221459809, + "frame": 145, + "progress": 5, + "action_description": "左臂爪夹向爪夹方向的右前方略微移动并下降。\n", + "state_description": "当前状态为左臂爪夹张开，左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当:左臂爪夹合拢，抓取衣服，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方。\n", + "progress_explanation": "当前左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服，因此进度提升至5%。\n", + "error_success_analysis": "左臂爪夹向爪夹方向的右前方略微移动至衣服的正上方，并下降左臂爪夹的左右两侧已接触到衣服。\n", + "correction_plan": "左臂爪夹合拢，爪夹抓住衣服左下角衣肩。右臂爪夹向爪夹的左上方移动，靠近衣服右上角衣角。后下降，抓取衣服。将衣服向爪夹的前方移动。左臂爪夹向爪夹的前方移动，到达衣领处，然后下降抓取衣服向左拉，右臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", 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"右臂爪夹向爪夹的左上方移动，靠近衣服右上角衣角。后下降，抓取衣服。将衣服向爪夹的前方移动。左臂爪夹向爪夹的前方移动，到达衣领处，然后下降抓取衣服向左拉，右臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", + "annotations": { + "bbox_1770694569141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770694569141_1772178655863_4uknhtcty", + "x": 0.05227425428522321, + "y": -0.0009375000000000001, + "width": 0.8350130470788606, + "height": 0.9693333333333333 + } + ] + }, + "point_1770694573837": { + "type": "point", + "instances": [ + { + "id": "point_1770694573837_1772179317215_9nbkgvlge", + "x": 0.08327473866779168, + "y": 0.7523958333333334 + } + ] + } + } + }, + { + "time": 8.535466, + "frame": 256, + "progress": 8, + "action_description": "左臂爪夹向上抬升离开衣服，右臂爪夹向爪夹的左前方移动并张开。", + "state_description": "当前状态为左臂爪夹向上抬升离开衣服，右臂爪夹张开并向爪夹的左前方移动，到达衣服右上角的正上方。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当:右臂爪夹然后下降，抓取衣服。将衣服向爪夹的前方移动。", + "progress_explanation": "当前左臂爪夹向上抬升离开衣服，右臂爪夹张开并向爪夹的左前方移动，到达衣服右上角的正上方，因此进度提升至8%。", + "error_success_analysis": "左臂爪夹向上抬升离开衣服，右臂爪夹张开并向爪夹的左前方移动，到达衣服右上角的正上方，方便抓取衣服。", + "correction_plan": 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"左臂爪夹下降，抓取衣服向左拉，再向爪夹的后方移动并向下降抓取衣服向左后拉。右臂爪夹保持不动。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", + "annotations": { + 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+ "correction_plan": "左臂爪夹合拢保持不动，右臂爪夹合拢并下降，抓取到衣服。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", + "annotations": { + 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"右臂爪夹向爪夹的前方移动，双臂爪夹张开。左臂爪夹在衣服上方摇摆不定。左臂爪夹先向爪夹的后方移动，后向爪夹的前方移动，直至到达衣服左上角，然后下降，抓取衣服。右臂爪夹合拢并下降抓取衣服。接下来双臂抓取衣服将衣服向爪夹的前方移动。左臂向爪夹的后方移动，直至到达衣服左下角，然后下降，抓取衣服。右臂爪夹向爪夹的左后方移动，直至到达衣服右下角，然后下降，抓取衣服。双臂抓取衣服同时向后拉，将衣服平铺在桌面上。左臂爪夹向爪夹的前方移动，到达衣领处，然后下降抓取衣服向左前拉，右臂爪夹向爪夹的前方移动，直至到衣服右上角，然后下降，抓取衣服右上角向右前方拉。左臂爪夹抓住衣服衣领向爪夹的左侧移动。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向下降，衣服落在桌子上。双臂爪夹张开，完成第一次折叠。然后双臂合拢抓取衣服向爪夹的后方移动，左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，双臂爪夹同时下降抓取衣服，将衣服向上拉，然后双臂爪夹张开。接下来左臂爪夹向左下方移动靠近衣服左下角，右臂爪夹向右下方移动靠近衣服右下角，然后下降抓取衣服，向爪夹的后方移动，将衣服完全展开。左臂爪夹向爪夹的前方移动，抓取衣服左上角向左侧拉，右臂爪夹向爪夹的前方移动，抓取衣服右上角向右前方移动，左臂爪夹向爪夹的后方移动，到达衣领处，抓取衣领向左侧拉。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。右臂爪夹张开，左臂爪夹合拢抓取衣服向右前方移动，然后爪夹向爪夹的右后方移动，到达衣服下方，再然后向左侧移动，使衣服上面成一条竖线。右臂爪夹张开向爪夹的左侧移动，到达衣服中间处，然后爪夹合拢将衣服向右拉，接着爪夹张开。左臂爪夹合拢向爪夹的右侧移动，然后下降将衣服向爪夹的后方拉，左臂爪夹再向爪夹的前方移动，将衣服上拉。使其平整。左臂爪夹并向爪夹的后方移动，直至衣服左下角，后下降，抓取衣服左下角。右臂爪夹向爪夹的左侧移动，直至衣服右下角，后下降，主权去衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹抓取衣服将衣服向后拉，双臂同时向爪夹的后方移动，直至到达衣服的左下角和右下角，后下降，抓取衣服左下角和右下角，左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。然后双臂爪夹同时张开，右臂爪夹向爪夹的右侧移动，远离衣服。左臂爪夹向爪夹的右侧移动，后下降，按着衣服向爪夹的左前方移动，最后左臂爪夹离开衣服。", 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"frame": 3969, + "progress": 100, + "action_description": "左臂爪夹向上抬升松开，离开衣服", + "state_description": "当前状态为左臂爪夹向上抬升松开，离开衣服服，任务完成。\n已完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务。", + "progress_explanation": "当前左臂爪夹松开，离开衣服，任务完成。因此进度提升至100%", + "error_success_analysis": "左臂爪夹向上抬升松开，离开衣服服，任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1770694569141": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770694569141_1772179296086_kfoy4zb2u", + "x": 0.10527508242316286, + "y": 0.08839583333333333, + "width": 0.2950046094470226, + "height": 0.22666666666666663 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770694569141", + "name": "衣服" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770694573549", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770694573837", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1770694574461", + "name": "右臂爪夹左" + }, + { + "color": "#FF9800", + "id": "point_1770694574709", + "name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000070.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000070.json new file mode 100644 index 0000000000000000000000000000000000000000..afc7470388d4e33f68ad3f7d08ff72167e8acd7b --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_30hz/annotations/chunk-000/observation.images.head/episode_000070.json @@ -0,0 +1,1747 @@ +{ + "task_description": "用双臂爪夹将衣服叠成方块，放在桌面左上角。\n准备开始移动：0%\n双臂爪夹抓住衣服完成第一次折叠：20%\n双臂爪夹抓住衣服完成第二次折叠：40%\n双臂爪夹抓住衣服完成第三次折叠：60%\n双臂爪夹抓住衣服完成第四次折叠：80%\n左臂爪夹抵住衣服向左臂爪夹的左侧靠近：95%\n左臂爪夹移动到桌面左侧，接着向爪夹的上方移动：99%\n左臂爪夹抵住衣服移动到桌面左上角后松开爪夹，向爪夹的上方抬起离开：100%", + "progress_points": [ + { + "time": 4.418566, + "frame": 133, + "progress": 0, + "action_description": "爪夹张开，准备移动。\n", + "state_description": "当前爪夹张开，没有移动，没有接触衣服。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：", + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。\n", + "error_success_analysis": "", + "correction_plan": "左臂爪夹向爪夹的右下方移动，靠近衣服下方衣肩处。左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服下方衣肩。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"左臂爪夹向爪夹的下方移动，并合拢爪夹抓住衣服下方衣肩。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角。右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"双臂爪夹抓住衣服，向爪夹的后方移动，靠近桌面下侧。双臂爪夹抓住衣服，向爪夹的后方抬起，接着张开爪夹，向爪夹的上方抬起离开衣服。双臂爪夹向爪夹的上方抬起离开，左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，靠近桌面上方衣肩处。左臂爪夹向爪夹的前方移动，同时向爪夹的下方移动，左臂爪夹移动到衣服上方衣肩处并合拢爪夹。右臂爪夹向爪夹的左前方移动，同时向爪夹的下方移动，靠近衣服右上方衣角。右臂爪夹向左下方移动，并合拢爪夹抓住衣服右上方衣角。双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。双臂爪夹抓住衣服，向爪夹的后方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动并抵住衣服，同时右臂爪夹向爪夹的左下方移动，靠近衣摆。右臂爪夹向爪夹的左下方移动并合拢爪夹，抓住衣摆。右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。右臂爪夹抓住衣摆，向爪夹的左边移动，同时向爪夹的下方移动，靠近衣领处的衣服，左臂爪夹向爪夹的左上方移动离开衣服。右臂爪夹向爪夹的左下方移动，同时张开爪夹，完成第三次折叠。右臂爪夹向爪夹的右上方抬起离开，同时左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。左臂爪夹合拢，向爪夹的右前方移动，使衣服移动到桌面前方。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。左臂爪夹向爪夹的右下方移动，靠近衣服左下角。左臂爪夹向爪夹的右下方移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的前方移动。双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第三次折叠。双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。右臂爪夹线爪夹的右上方抬起离开，左臂爪夹向爪夹的右下方移动，靠近衣服。左臂爪夹向爪夹的右下方移动，并抵住衣服。左臂爪夹抵住衣服，向爪夹的左侧移动。左臂爪夹保持抵住衣服，向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。", 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"name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000015.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000015.json new file mode 100644 index 0000000000000000000000000000000000000000..0e7d1d3ed1b67b64961a734dfcbda5ee227d9a00 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000015.json @@ -0,0 +1,3084 @@ +{ + "task_description": "用双臂将桌面上的短袖折叠起来并移动到桌面左上角\n准备开始移动：0%\n[左臂]靠近短袖右侧衣袖，[右臂]靠近短袖下摆右下角：5%\n[左臂]抓取短袖右侧衣袖，[右臂]抓取短袖下摆右下角：10%\n[左臂]夹紧短袖右侧衣袖向短袖中间折叠起来，[右臂]抓取短袖下摆右下角向短袖中间折叠起来：20%\n左臂]靠近短袖左上角衣袖，[右臂]靠近短袖下摆右上角：35%\n[左臂]抓取短袖左上角衣袖，[右臂]抓取短袖下摆右下角：40%\n[左臂]夹紧短袖左上角衣袖向短袖中间折叠，[右臂]抓取短袖下摆右上角向短袖中间折叠：45%\n[左臂]拖动短袖使短袖下摆朝向爪夹正后方，[右臂]拉动短袖至桌子中央位置：55%\n[左臂]靠近短袖下摆左下角，[右臂]抓取短袖下摆右下角：65%\n[左臂]抓取夹紧短袖下摆左下角向短袖中间折叠，[右臂]夹紧短袖下摆右下角向短袖中间折叠：70%\n[左臂]拖动短袖使短袖至桌子中央位置，[右臂]远离短袖：75%\n[左臂]抓取短袖左下角，[右臂]抓取短袖右下角：80%\n[左臂]夹紧短袖左下角向短袖中间折叠，[右臂]夹紧短袖右下角向短袖中间折叠：90%\n[左臂]按住短袖，[右臂]远离短袖：95%\n[左臂]按住短袖将短袖移动到桌子左上角，[右臂]保持远离短袖不动：98%\n[左臂]远离短袖，[右臂]保持远离短袖不动：100%", + "progress_points": [ + { + "action_description": "左臂爪夹处于屏幕外，右臂爪夹张开，都未开始移动", + "correction_plan": "左臂爪夹向爪夹右方移动下降靠近短袖衣袖，右臂爪夹向爪夹左方移动下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。左臂爪夹夹紧衣袖向爪夹正前方移动向短袖中间将衣服折叠，右臂爪夹夹紧短袖右下方衣角向爪夹正前方移动向短袖中间将衣服折叠。左臂爪夹张开，右臂爪夹张开。左臂爪夹向爪夹正后方移动靠近短袖左下方衣角，右臂爪夹向爪夹正后方移动靠近短袖右下方衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下方衣角。左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。接着左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "", + "frame": 70, + "progress": 0, + "progress_explanation": "当前为初始状态，左右臂爪夹未开始移动，因此进度为0%。", + "state_description": "当前为初始状态左臂爪夹处于屏幕外，右臂爪夹张开，远离目标物。未开始移动。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹向爪夹右方移动下降靠近短袖衣袖，右臂爪夹向爪夹左方移动下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。", + "time": 2.3405, + "annotations": { + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456270903_gyxynfjxy", + "x": 0.0095, + "y": 0.002666666666666719, + "width": 0.842, + "height": 0.9760000000000001 + } + ] + }, + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456281274_svtan9f2u", + "x": 0.9685, + "y": 0.10133333333333333 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770456290384_19wwglrwf", + "x": 0.0045, + "y": 0.005333333333333333, + "width": 0.9890000000000001, + "height": 0.9906666666666666 + } + ] + } + } + }, + { + "action_description": "左臂爪夹垂直下降，右臂爪夹向爪夹左方移动下降", + "correction_plan": "左臂爪夹垂直下降靠近短袖衣袖，右臂爪夹垂直下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。左臂爪夹夹紧衣袖向爪夹正前方移动向短袖中间将衣服折叠，右臂爪夹夹紧短袖右下方衣角向爪夹正前方移动向短袖中间将衣服折叠。左臂爪夹张开，右臂爪夹张开。左臂爪夹向爪夹正后方移动靠近短袖左下方衣角，右臂爪夹向爪夹正后方移动靠近短袖右下方衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下方衣角。左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。接着左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹垂直下降缩短了短袖衣袖的距离，右臂爪夹向爪夹左方移动下降接近了右下角衣角。方便抓取。", + "frame": 98, + "progress": 2, + "progress_explanation": "左臂爪夹垂直上接近了短袖衣袖，右臂爪夹靠近了短袖右下角衣角。方便抓取短袖，因此进度提升为2%。", + "state_description": "左臂爪夹角度接近垂直于桌面，垂直上接近了短袖衣袖，右臂爪夹角度接近垂直于桌面，接近了短袖右下角衣角。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹垂直下降靠近短袖衣袖，右臂爪夹垂直下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。", + "time": 3.2573969211340197, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456296888_9apy6c0b1", + "x": 0.8394999999999999, + "y": 0.548 + } + ] + }, + "point_1770456228580": { + "type": "point", + "instances": [ + { + "id": "point_1770456228580_1770456310108_1vcyx0u97", + "x": 0.0355, + "y": 0.5306666666666666 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456318675_how7t1rub", + "x": 0.006500000000000001, + "y": 0.004, + "width": 0.8440000000000001, + "height": 0.9813333333333334 + } + ] + }, + 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"左臂爪夹夹紧衣袖向爪夹正前方移动下降向短袖中间将衣服折叠，右臂爪夹夹紧短袖右下方衣角向爪夹正前方移动下降向短袖中间将衣服折叠。左臂爪夹张开，右臂爪夹张开。左臂爪夹向爪夹正后方移动靠近短袖左下方衣角，右臂爪夹向爪夹正后方移动靠近短袖右下方衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下方衣角。左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。接着左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": 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"左臂爪夹向爪夹正后方移动靠近短袖左下方衣角，右臂爪夹向爪夹正后方移动靠近短袖右下方衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下方衣角。左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。接着左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹向爪夹正前方移动下降并张开爪夹，右臂爪夹向爪夹正前方移动下降并张开爪夹。短袖的一侧折叠起来。", + "frame": 288, + "progress": 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"左臂爪夹下降合拢成功抓取到了衣袖，右臂爪夹合拢成功抓取到了右下角衣角。", + "frame": 351, + "progress": 30, + "progress_explanation": "左臂爪夹合拢抓取到左下角衣袖，右臂爪夹合拢抓取到右下角衣角。因此进度提升为30%。", + "state_description": "左臂爪夹合拢抓取到左下角衣袖，右臂爪夹合拢抓取到右下角衣角。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。", + "time": 11.7025, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456524108_3z5knvg62", + "x": 0.8314999999999999, + "y": 0.5573333333333333 + } + ] + }, + "point_1770456228580": { + "type": "point", + "instances": [ + { + "id": "point_1770456228580_1770456534358_nfx9m43ig", + "x": 0.0785, + "y": 0.5106666666666667 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456540356_xpmiuvml8", + "x": 0.0195, + "y": 0.005333333333333334, + "width": 0.845, + "height": 0.5693333333333334 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": 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"左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹夹紧左下角衣袖向爪夹正后方移动，右臂爪夹夹紧右下角衣角向爪夹正后方移动成功拉动短袖至近处。", + "frame": 403, + "progress": 32, + "progress_explanation": "左边爪夹夹紧左下角衣袖，右臂爪夹夹紧右下角衣角拉动短袖至近处。方便左右臂爪夹折叠短袖。因此进度提升为32%。", + "state_description": "左边爪夹夹紧左下角衣袖，右臂爪夹夹紧右下角衣角拉动短袖至近处。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。", + "time": 13.418866, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456560105_be6j8874u", + "x": 0.9025000000000001, + "y": 0.7733333333333333 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456566040_h6zcqv4cd", + "x": 0.0025000000000000217, + "y": 0.09866666666666668, + "width": 0.9199999999999999, + "height": 0.7186666666666668 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770456575075_4nttbs8fs", + "x": 0.0025, + "y": 0.005333333333333333, + "width": 0.993, + "height": 0.9853333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹松开，右臂爪夹松开", + "correction_plan": "左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹松开，右臂爪夹松开。方便左臂爪夹向左上角衣袖靠近，方便右臂爪夹向右上角衣角靠近。", + "frame": 417, + "progress": 33, + "progress_explanation": "左臂爪夹张开位于左下方衣袖正上方，右臂爪夹张开位于右下方衣角正上方。方便左臂爪夹向左上角衣袖靠近，方便右臂爪夹向右上角衣角靠近。因此进度提升为33%。", + "state_description": "左臂爪夹张开位于左下方衣袖正上方，右臂爪夹张开位于右下方衣角正上方。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。", + "time": 13.886966, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456582782_kcmi239kl", + "x": 0.9015000000000001, + "y": 0.76 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456588802_i6ldh5fsg", + "x": 0.0035000000000000005, + "y": 0.10533333333333333, + "width": 0.9019999999999999, + "height": 0.7200000000000001 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770456594435_9e39nttsh", + "x": 0.0025, + "y": 0.004, + "width": 0.994, + "height": 0.9893333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹正前方移动升高，右臂爪夹向爪夹正前方移动升高", + "correction_plan": "左臂爪夹向爪夹正前方移动下降靠近左上角衣袖，右臂爪夹向爪夹正前方移动下降靠近短袖右上角衣角。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹向爪夹正前方移动升高，右臂爪夹向爪夹正前方移动升高缩短了与左上角衣袖和右上角衣角的距离。", + "frame": 440, + "progress": 34, + "progress_explanation": "左臂爪夹张开水平上接近了左上角衣袖，右臂爪夹张开水平上接近了右上角衣角。方便靠近衣袖和衣角，因此进度提升为34%。", + "state_description": "左臂爪夹张开水平上接近了左上角衣袖，右臂爪夹张开水平上接近了右上角衣角。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹向爪夹正前方移动下降靠近左上角衣袖，右臂爪夹向爪夹正前方移动下降靠近短袖右上角衣角。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。", + "time": 14.667133, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456601656_39e2cxxfo", + "x": 0.8564999999999999, + "y": 0.31333333333333335 + } + ] + }, + "point_1770456228580": { + "type": "point", + "instances": [ + { + "id": "point_1770456228580_1770456606537_v675nmnkd", + "x": 0.1335, + "y": 0.08666666666666667 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456612710_pglobmlly", + "x": 0.0015, + "y": 0.096, + "width": 0.9019999999999999, + "height": 0.7240000000000001 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770456618230_072of8tex", + "x": 0.0015, + "y": 0, + "width": 0.994, + "height": 0.9906666666666666 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹正前方移动下降，右臂爪夹向爪夹正前方移动下降。", + "correction_plan": "左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹向爪夹正前方移动下降靠近了左上角衣袖，右臂爪夹向爪夹正前方移动下降靠近了右上角衣角。方便抓取衣袖和衣角。", + "frame": 468, + "progress": 35, + "progress_explanation": "左臂爪夹靠近了左上角衣袖，右臂爪夹靠近了短袖右上角衣角。方便抓取衣袖和衣角，因此进度提升为35%。", + "state_description": "左臂爪夹靠近了左上角衣袖，右臂爪夹靠近了短袖右上角衣角。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。", + "time": 15.603333, + "annotations": { + "point_1770456228580": { + "type": "point", + "instances": [ + { + "id": "point_1770456228580_1770456625362_djmbqfbml", + "x": 0.2305, + "y": 0.23333333333333334 + } + ] + }, + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": "point_1770456235660_1770456628662_0lf2zk0vf", + "x": 0.7415, + "y": 0.272 + } + ] + }, + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770456634044_iaulftl97", + "x": 0.0015, + "y": 0.08933333333333333, + "width": 0.9029999999999999, + "height": 0.7333333333333333 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770456641602_0mb1b3981", + "x": 0.0035000000000000005, + "y": 0.0013333333333333333, + "width": 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"左臂爪夹夹紧左上角衣袖向爪夹正后方移动下降，右臂爪夹夹紧右上角衣角向向爪夹正后方移动下降将衣服另一侧衣服折叠起来。左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹夹紧左上角衣袖向爪夹正后方移动升高，右臂爪夹夹紧右上角衣角向向爪夹正后方移动升高方便衣服折叠起来。", + "frame": 520, + "progress": 42, + "progress_explanation": "左臂爪夹夹紧左上角衣袖，右臂爪夹夹紧右上角衣角位于半空中。另一侧衣服位于半空中方便折叠起来，因此进度提升为42%。", + "state_description": 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"左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。左臂爪夹远离短袖，右臂爪夹靠近抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹夹紧左上角衣袖向爪夹正后方移动下降，右臂爪夹夹紧右上角衣角向向爪夹正后方移动下降。衣服将要折叠起来。", + "frame": 559, + "progress": 44, + "progress_explanation": "左臂爪夹夹紧左上角衣袖，右臂爪夹夹紧右上角衣角，衣服另一侧折叠了起来。因此进度提升为44%。", + "state_description": "左臂爪夹夹紧左上角衣袖，右臂爪夹夹紧右上角衣角，衣服另一侧折叠了起来。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹松开，靠近短袖衣领。右臂爪夹远离短袖。左臂爪夹按住短袖衣领拖动使短袖下摆朝向爪夹正后方。", + "time": 18.645983, + "annotations": { + 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"右臂爪夹向爪夹垂直下降抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹向爪夹左方移动升高远离了短袖，右臂爪夹向爪夹左方移动下降靠近了短袖。", + "frame": 943, + "progress": 52, + "progress_explanation": "左臂爪夹远离了短袖，右臂爪夹靠近了短袖。方便右臂爪夹抓取短袖。", + "state_description": "左臂爪夹远离了短袖，右臂爪夹靠近了短袖。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：右臂爪夹向爪夹垂直下降抓取短袖将短袖拖动至桌子中央。接着右臂远离短袖，左臂爪夹靠近短袖将短袖保持折叠展平。", + "time": 31.440716, + "annotations": { + "point_1770456235660": { + "type": "point", + "instances": [ + { + "id": 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"左臂爪夹继续靠近按住短袖将短袖保持折叠展平。接着右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角，左臂爪夹向靠近正后方移动靠近短袖左下角衣角。右臂爪夹合拢抓取衣角，左臂爪夹合拢抓取衣角。左臂爪夹夹紧短袖左下角衣角向爪夹正后方移动升高，同时右臂爪夹夹紧右下角衣角向爪夹正后方移动升高。接着左臂爪夹夹紧衣角向爪夹正前方移动下降使短袖对折，同时右臂爪夹夹紧衣角向向爪夹正前方移动下降使短袖对折。左臂爪夹松开远离短袖，右臂爪夹松开远离短袖。接着左臂爪夹垂直下降靠近按住短袖向爪夹正后方移动将短袖拖动至近处，右臂爪夹向爪夹正后方移动接近短袖。左臂爪夹松开短袖向左下角衣角靠近，右臂爪夹向爪夹左方移动下降靠近短袖右下角衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下角衣角。左臂爪夹夹紧衣角向爪夹正后方移动升高，同时右臂爪夹夹紧衣角向爪夹正后方移动升高。接着左右臂各自夹紧一侧衣角向爪夹正前方移动下降使短袖对折。左臂爪夹松开，并向爪夹右方移动升高，右臂爪夹松开。接着左臂爪夹垂直下降靠近按住短袖，右臂爪夹向爪夹右后方移动升高。左臂爪夹按紧短袖将短袖向爪夹左前方移动使短袖移动到桌面左上角。右臂爪夹向爪夹右后方移动。左臂爪夹垂直升高，右臂爪夹保持远离不动。", + "error_success_analysis": "左臂爪夹向爪夹右方移动下降按住了右边衣袖，方便展平右侧衣袖。", + "frame": 1220, + "progress": 61, + "progress_explanation": "左臂爪夹按住了右边衣袖，方便展平右侧衣袖。因此进度提升为61%。", + "state_description": "左臂爪夹按住了右边衣袖，右臂爪夹保持不动。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹继续靠近按住短袖将短袖保持折叠展平。", + "time": 40.657139348969075, + "annotations": { + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770457130549_ts6v2hos6", + "x": 0.27249999999999996, + "y": 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"action_description": "左臂爪夹垂直升高，右臂爪夹保持不动。", + "state_description": "左臂爪夹位于短袖正上方，右臂爪夹保持不动。\n用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务目标完成。", + "progress_explanation": "左臂爪夹位于短袖正上方，右臂爪夹保持不动。都远离了短袖，因此进度提升为100%。", + "error_success_analysis": "左臂爪夹垂直升高，右臂爪夹保持不动。任务完成。", + "correction_plan": "", + "annotations": { + "bbox_1770456208835": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456208835_1770457708501_96qvmzikd", + "x": 0.0015000000000000013, + "y": 0.044000000000000004, + "width": 0.288, + "height": 0.216 + } + ] + }, + "bbox_1770456215387": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770456215387_1770457720465_2kdcur30m", + "x": 0.0055, + "y": 0, + "width": 0.99, + "height": 0.996 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770456208835", + "name": "短袖", + "color": "#4CAF50" + }, + { + "id": "bbox_1770456215387", + "name": "桌面", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770456222194", + "name": "左臂爪夹左", + "color": 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"抓取玻璃箱中的盘子放到右侧框中：\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爪夹夹紧盘子靠近框：60%\n爪夹将盘子放到框中：80%\n爪夹松开盘子落到框中：100%", + "progress_points": [ + { + "time": 5.159466, + "frame": 155, + "progress": 0, + "action_description": "爪夹张开未开始移动", + "state_description": "当前为初始状态，爪夹张开，未开始移动。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹垂直下降靠近盘子，爪夹合拢抓取盘子。", + "progress_explanation": "当前为初始状态，爪夹张开，未开始移动。因此进度为0%。", + "error_success_analysis": "", + "correction_plan": "爪夹垂直下降靠近盘子，爪夹合拢抓取盘子。爪夹夹紧盘子垂直升高向爪夹右方移动来到框的正上方。爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。将盘子放到框中，爪夹松开，盘子完全落到框中。", + "annotations": { + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622171479_tqffos2la", + "x": 0.3205, + "y": 0, + "width": 0.30699999999999994, + "height": 0.24400000000000002 + } + ] + }, + "point_1770622153483": { + "type": "point", + "instances": [ + { + "id": "point_1770622153483_1770622180287_ja1r5gn6i", + "x": 0.47050000000000003, + "y": 0.010666666666666666 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622187793_kird84ld8", + "x": 0.6845, + "y": 0.0026666666666666666, + "width": 0.3150000000000001, + "height": 0.5306666666666666 + } + ] + } + } + }, + { + "time": 6.403266, + "frame": 192, + "progress": 20, + "action_description": "爪夹垂直下降", + "state_description": "爪夹张开，爪夹靠近了盘子两侧。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹合拢抓取盘子。爪夹夹紧盘子垂直升高向爪夹右方移动来到框的正上方。", + "progress_explanation": "爪夹靠近了盘子两侧，方便抓取盘子，因此进度提升为20%。", + "error_success_analysis": "爪夹垂直下降来到了盘子的两侧，方便抓取盘子。", + "correction_plan": "爪夹合拢抓取盘子。爪夹夹紧盘子垂直升高向爪夹右方移动来到框的正上方。爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。将盘子放到框中，爪夹松开，盘子完全落到框中。", + "annotations": { + "point_1770622153483": { + "type": "point", + "instances": [ + { + "id": "point_1770622153483_1770622193727_onb258rkc", + "x": 0.4805, + "y": 0.096 + } + ] + }, + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622200335_6egevn4e2", + "x": 0.3145, + "y": 0.0013333333333333333, + "width": 0.30800000000000005, + "height": 0.23866666666666667 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622208669_nlo30ihi5", + "x": 0.6845, + "y": 0.004, + "width": 0.313, + "height": 0.5333333333333333 + } + ] + } + } + }, + { + "time": 7.393699, + "frame": 222, + "progress": 40, + "action_description": "爪夹合拢", + "state_description": "爪夹合拢抓取到了盘子。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹夹紧盘子垂直升高向爪夹右方移动来到框的正上方。", + "progress_explanation": "爪夹合拢抓取到了盘子。因此进度提升为40%。", + "error_success_analysis": "爪夹合拢成功抓取到了盘子。方便移动盘子到框的正上方。", + "correction_plan": "爪夹夹紧盘子垂直升高向爪夹右方移动来到框的正上方。爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。将盘子放到框中，爪夹松开，盘子完全落到框中。", + "annotations": { + "point_1770622153483": { + "type": "point", + "instances": [ + { + "id": "point_1770622153483_1770622214451_sw1yj6bh6", + "x": 0.47450000000000003, + "y": 0.08533333333333333 + } + ] + }, + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622220341_88prkwan2", + "x": 0.3155, + "y": 0.0013333333333333333, + "width": 0.30599999999999994, + "height": 0.24666666666666667 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622229445_09i3a5xem", + "x": 0.6835, + "y": 0.0026666666666666666, + "width": 0.31499999999999995, + "height": 0.536 + } + ] + } + } + }, + { + "time": 8.346614999484535, + "frame": 250, + "progress": 50, + "action_description": "爪夹夹紧盘子垂直升高", + "state_description": "爪夹夹紧盘子，位于半空中。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹夹紧盘子向爪夹右方移动来到框的正上方。", + "progress_explanation": "爪夹夹紧盘子，位于半空中。方便移动盘子靠近框，因此进度提升为50%。", + "error_success_analysis": "爪夹夹紧盘子垂直升高垂直上出了玻璃箱，方便移动盘子靠近框。", + "correction_plan": "爪夹夹紧盘子向爪夹右方移动来到框的正上方。爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。将盘子放到框中，爪夹松开，盘子完全落到框中。", + "annotations": { + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622236594_sr817hmzh", + "x": 0.3365, + "y": 0.0013333333333333333, + "width": 0.225, + "height": 0.032 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622241424_4pw8xbzcw", + "x": 0.6825, + "y": 0.0026666666666666666, + "width": 0.31399999999999995, + "height": 0.5333333333333334 + } + ] + } + } + }, + { + "time": 11.26733660670103, + "frame": 338, + "progress": 60, + "action_description": "爪夹夹紧盘子向爪夹右方移动", + "state_description": "爪夹夹紧盘子位于框的正上方，盘子接近竖直垂直于桌面。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。", + "progress_explanation": "爪夹夹紧盘子位于框的正上方，因此进度提升为60%。", + "error_success_analysis": "爪夹夹紧盘子向爪夹右方移动来到了框的正上方。方便将盘子落下。", + "correction_plan": "爪夹夹紧盘子垂直下降并调整爪夹角度使盘子接近平行与桌面。将盘子放到框中，爪夹松开，盘子完全落到框中。", + "annotations": { + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622248380_5986csjr4", + "x": 0.8695, + "y": 0.0013333333333333333, + "width": 0.12899999999999992, + "height": 0.06266666666666666 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": 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} + ] + } + } + }, + { + "time": 14.995412154123711, + "frame": 450, + "progress": 80, + "action_description": "爪夹夹紧盘子垂直下降", + "state_description": "爪夹夹紧盘子，盘子落到了框里。\n为完成抓取玻璃箱中的盘子放到右侧框中的任务应当：爪夹松开，盘子完全落到框中。", + "progress_explanation": "爪夹夹紧盘子，盘子落到了框里。因此进度提升为80%。", + "error_success_analysis": "爪夹夹紧盘子垂直下降将盘子放到了框里。方便盘子完全落到框里。", + "correction_plan": "爪夹松开，盘子完全落到框中。", + "annotations": { + "point_1770622153483": { + "type": "point", + "instances": [ + { + "id": "point_1770622153483_1770622274970_vrsdccabx", + "x": 0.8965, + "y": 0.17733333333333334 + } + ] + }, + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622279158_p4pyi7qvo", + "x": 0.7445, + "y": 0.08, + "width": 0.24000000000000005, + "height": 0.16000000000000003 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622283558_km5ql4jzw", + "x": 0.6875, + "y": 0.0013333333333333333, + "width": 0.30999999999999994, + "height": 0.544 + } + ] + } + } + }, + { + "time": 16.883433, + "frame": 507, + "progress": 100, + "action_description": "爪夹张开向爪夹右后方移动", + "state_description": "爪夹张开，盘子落到了框中。\n抓取玻璃箱中的盘子放到右侧框中的任务目标完成。", + "progress_explanation": "爪夹松开盘子落到框中，因此进度提升为100%。", + "error_success_analysis": "爪夹张开向爪夹右后方移动，盘子完全落到框中，任务完成。", + "correction_plan": "", + "annotations": { + "point_1770622153483": { + "type": "point", + "instances": [ + { + "id": "point_1770622153483_1770622290162_923ujz7gp", + "x": 0.9355, + "y": 0.11466666666666667 + } + ] + }, + "point_1770622157763": { + "type": "point", + "instances": [ + { + "id": "point_1770622157763_1770622293360_n4g8icw1q", + "x": 0.9765, + "y": 0.2573333333333333 + } + ] + }, + "bbox_1770622145815": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622145815_1770622297791_0gbn8ojlr", + "x": 0.7405, + "y": 0.13066666666666665, + "width": 0.25100000000000006, + "height": 0.20133333333333336 + } + ] + }, + "bbox_1770622149983": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770622149983_1770622302552_fn6rdtvm4", + "x": 0.6855, + "y": 0.004, + "width": 0.30999999999999994, + "height": 0.528 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "id": "bbox_1770622145815", + "name": "盘子", + "color": "#4CAF50" + }, + { + "id": "bbox_1770622149983", + "name": "框", + "color": "#FF9800" + } + ], + "point_targets": [ + { + "id": "point_1770622153483", + "name": "爪夹左", + "color": "#2196F3" + }, + { + "id": "point_1770622157763", + "name": "爪夹右", + "color": "#F44336" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000031.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000031.json new file mode 100644 index 0000000000000000000000000000000000000000..b9eee3de38d1b5d3eda9b5503a7f9f9c9674f8cd --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000031.json @@ -0,0 +1,2944 @@ +{ + "task_description": "用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口。\n准备开始移动：0%\n[左臂]靠近手包撑住手包口，[右臂]抓住第一个物品：10%\n[左臂]继续保持打开手包口，[右臂]抓住第一个物品放入手包中：20%\n[左臂]继续保持打开手包口，[右臂]抓住第二个物品：30%\n[左臂]继续保持打开手包口，[右臂]抓住第二个物品放入手包中：40%\n[左臂]远离手包，[右臂] 远离书包：45%\n[左臂]靠近夹住手包，[右臂]抓住手包的拉链：55%\n[左臂]保持夹住手包，[右臂]抓住手包的拉链拉动至中央：65%\n[左臂]远离手包，[右臂] 远离手包：70%\n[左臂]抓住手包的拉链，[右臂]靠近夹住手包：80%\n[左臂]抓住书包的拉链拉动至手包端头关闭，[右臂]保持夹住手包：90%\n左臂]远离手包，[右臂]远离手包：100%", + "progress_points": [ + { + "action_description": "爪夹左臂张开，爪夹右臂处于屏幕外，都未开始移动", + "correction_plan": "左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。左臂爪夹不动保持打开手包口，右臂爪夹夹紧第一个物品向爪夹左方移动来到手包口正上方。右臂爪夹松开，第一个物品掉入手包里。接着左臂爪夹不动继续保持打开手包口。右臂爪夹向爪夹右前方移动下降靠近第二个物品，右臂爪夹合拢抓取第二个物品。右臂爪夹夹紧第二个物品向爪夹左后方移动来到手包口正上方。右臂爪夹松开，第二个物品掉落到手包里。接着左臂爪夹远离手包，右臂爪夹远离手包。左臂爪夹向手包两侧靠近，爪夹合拢夹紧手包不动。右臂爪夹向手包拉链靠近，爪夹合拢抓取拉链。左臂爪夹夹紧手包保持不动，右臂爪夹夹紧拉链垂直升高，接着向爪夹左方移动拉动拉链至中央。右臂爪夹远离手包，左臂爪夹远离手包。接着右臂爪夹向爪夹左方移动下降靠近手包两侧，爪夹合拢抓取手包。左臂爪夹向爪夹右前方移动下降靠近拉链，爪夹合拢抓取拉链。右臂爪夹夹紧手包保持不动，左臂爪夹夹紧拉链向爪夹左方移动下降，拉动拉链至手包端头关闭。左臂爪夹松开远离手包，右臂爪夹松开远离手包。", + "error_success_analysis": "", + "frame": 27, + "progress": 0, + "progress_explanation": "当前为初始状态，爪夹左右臂未开始移动，因此进度为0%。", + "state_description": "当前为初始状态爪夹左臂张开，爪夹右臂处于屏幕外，远离目标物。未开始移动。\n为完成用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口的任务应当：左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。", + "time": 0.907866, + "annotations": { + "bbox_1770704209034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770704209034_1770704289873_hohahgb5n", + "x": 0.7575000000000001, + "y": 0.42933333333333334, + 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"左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。左臂爪夹不动保持打开手包口，右臂爪夹夹紧第一个物品向爪夹左方移动来到手包口正上方。右臂爪夹松开，第一个物品掉入手包里。接着左臂爪夹不动继续保持打开手包口。右臂爪夹向爪夹右前方移动下降靠近第二个物品，右臂爪夹合拢抓取第二个物品。右臂爪夹夹紧第二个物品向爪夹左后方移动来到手包口正上方。右臂爪夹松开，第二个物品掉落到手包里。接着左臂爪夹远离手包，右臂爪夹远离手包。左臂爪夹向手包两侧靠近，爪夹合拢夹紧手包不动。右臂爪夹向手包拉链靠近，爪夹合拢抓取拉链。左臂爪夹夹紧手包保持不动，右臂爪夹夹紧拉链垂直升高，接着向爪夹左方移动拉动拉链至中央。右臂爪夹远离手包，左臂爪夹远离手包。接着右臂爪夹向爪夹左方移动下降靠近手包两侧，爪夹合拢抓取手包。左臂爪夹向爪夹右前方移动下降靠近拉链，爪夹合拢抓取拉链。右臂爪夹夹紧手包保持不动，左臂爪夹夹紧拉链向爪夹左方移动下降，拉动拉链至手包端头关闭。左臂爪夹松开远离手包，右臂爪夹松开远离手包。", + "error_success_analysis": "左臂爪夹向爪夹左移动增加了与手包之间的距离。", + "frame": 53, + "progress": -2, + "progress_explanation": "左臂爪夹远离了手包。因此进度降低为-2%。", + "state_description": "左臂爪夹远离了手包。右臂爪夹保持不动。\n为完成用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口的任务应当：左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。", + "time": 1.774466, + "annotations": { + "bbox_1770704209034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770704209034_1770704332061_ilb4315bl", + "x": 0.7595, + "y": 0.42400000000000004, + "width": 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"左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。左臂爪夹不动保持打开手包口，右臂爪夹夹紧第一个物品向爪夹左方移动来到手包口正上方。右臂爪夹松开，第一个物品掉入手包里。接着左臂爪夹不动继续保持打开手包口。右臂爪夹向爪夹右前方移动下降靠近第二个物品，右臂爪夹合拢抓取第二个物品。右臂爪夹夹紧第二个物品向爪夹左后方移动来到手包口正上方。右臂爪夹松开，第二个物品掉落到手包里。接着左臂爪夹远离手包，右臂爪夹远离手包。左臂爪夹向手包两侧靠近，爪夹合拢夹紧手包不动。右臂爪夹向手包拉链靠近，爪夹合拢抓取拉链。左臂爪夹夹紧手包保持不动，右臂爪夹夹紧拉链垂直升高，接着向爪夹左方移动拉动拉链至中央。右臂爪夹远离手包，左臂爪夹远离手包。接着右臂爪夹向爪夹左方移动下降靠近手包两侧，爪夹合拢抓取手包。左臂爪夹向爪夹右前方移动下降靠近拉链，爪夹合拢抓取拉链。右臂爪夹夹紧手包保持不动，左臂爪夹夹紧拉链向爪夹左方移动下降，拉动拉链至手包端头关闭。左臂爪夹松开远离手包，右臂爪夹松开远离手包。", + "error_success_analysis": "左臂爪夹向爪夹右前方移动缩短了与手包之间的距离。", + "frame": 125, + "progress": 2, + "progress_explanation": "左臂爪夹水平上接近了手包，方便靠近手包。因此进度提升为2%。", + "state_description": "左臂爪夹水平上接近了手包，右臂爪夹保持不动。\n为完成用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口的任务应当：左臂爪夹向右前方移动下降靠近手包口，将爪夹伸入手包口，爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。", + "time": 4.167932, + "annotations": { + "point_1770704240065": { + "type": "point", + "instances": [ + { + "id": "point_1770704240065_1770704371051_1nkeuxnb3", + "x": 0.3265, + "y": 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"左臂爪夹向爪夹右前方移动下降，右臂爪夹保持不动", + "correction_plan": "左臂爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。左臂爪夹不动保持打开手包口，右臂爪夹夹紧第一个物品向爪夹左方移动来到手包口正上方。右臂爪夹松开，第一个物品掉入手包里。接着左臂爪夹不动继续保持打开手包口。右臂爪夹向爪夹右前方移动下降靠近第二个物品，右臂爪夹合拢抓取第二个物品。右臂爪夹夹紧第二个物品向爪夹左后方移动来到手包口正上方。右臂爪夹松开，第二个物品掉落到手包里。接着左臂爪夹远离手包，右臂爪夹远离手包。左臂爪夹向手包两侧靠近，爪夹合拢夹紧手包不动。右臂爪夹向手包拉链靠近，爪夹合拢抓取拉链。左臂爪夹夹紧手包保持不动，右臂爪夹夹紧拉链垂直升高，接着向爪夹左方移动拉动拉链至中央。右臂爪夹远离手包，左臂爪夹远离手包。接着右臂爪夹向爪夹左方移动下降靠近手包两侧，爪夹合拢抓取手包。左臂爪夹向爪夹右前方移动下降靠近拉链，爪夹合拢抓取拉链。右臂爪夹夹紧手包保持不动，左臂爪夹夹紧拉链向爪夹左方移动下降，拉动拉链至手包端头关闭。左臂爪夹松开远离手包，右臂爪夹松开远离手包。", + "error_success_analysis": "左臂爪夹向爪夹右前方移动下降将爪夹伸入到了手包口里，方便左臂爪夹撑开手包口。", + "frame": 151, + "progress": 4, + "progress_explanation": "左臂爪夹合拢伸入到了手包口里，方便左臂爪夹撑开手包。因此进度提升为4%。", + "state_description": "左臂爪夹合拢伸入到了手包口里，右臂爪夹保持不动。\n为完成用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口的任务应当：左臂爪夹张开撑住手包口打开。右臂爪夹向爪夹左前方移动下降靠近第一个物品，爪夹合拢抓取第一个物品。", + "time": 5.034533, + "annotations": { + "bbox_1770704209034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770704209034_1770704430789_3hurydg88", + "x": 0.7585, + "y": 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+ "error_success_analysis": "右臂爪夹夹紧第二个物品向爪夹左方移动来到了手包口正上方。方便将第二个物品放到手包里。", + "frame": 495, + "progress": 38, + "progress_explanation": "右臂爪夹夹紧第二个物品位于手包口正上方。方便将第二个物品放到手包里。因此进度提升为38%。", + "state_description": "左臂爪夹张开保持不动，右臂爪夹夹紧第二个物品位于手包口正上方。\n为完成用双臂将桌面上的两个物品放入手包中，接着将手包拉链拉上关闭手包口的任务应当：左臂爪夹张开保持不动，右臂爪夹松开，第二个物品掉落到手包里。接着左臂爪夹远离手包，右臂爪夹远离手包。", + "time": 16.506666, + "annotations": { + "point_1770704247177": { + "type": "point", + "instances": [ + { + "id": "point_1770704247177_1770704946923_myntrcq5b", + "x": 0.5085, + "y": 0.22666666666666666 + } + ] + }, + "bbox_1770704209034": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770704209034_1770704952467_ahqe94jrd", + "x": 0.44350000000000006, + "y": 0.23866666666666667, + "width": 0.05999999999999996, + "height": 0.14666666666666667 + } + ] + }, + "bbox_1770704216424": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770704216424_1770704961068_36wzrxzpy", + "x": 0.40650000000000003, + "y": 0.08800000000000001, + "width": 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"左臂爪夹向爪夹右方移动下降靠近短袖衣袖，右臂爪夹向爪夹左方移动下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。左臂爪夹夹紧衣袖向爪夹正前方移动向短袖中间将衣服折叠，右臂爪夹夹紧短袖右下方衣角向爪夹正前方移动向短袖中间将衣服折叠。左臂爪夹张开，右臂爪夹张开。左臂爪夹向爪夹正后方移动靠近短袖左下方衣角，右臂爪夹向爪夹正后方移动靠近短袖右下方衣角。左臂爪夹合拢抓取短袖左下方衣角，右臂爪夹合拢抓取短袖右下方衣角。左臂夹紧短袖左下方衣角向爪夹正后方拉动，同时右臂夹紧短袖右下方衣角向爪夹正后方拉动短袖。将短袖拉动至近处。接着左右臂爪夹松开，左臂爪夹向短袖左上角衣袖靠近，右臂爪夹向短袖右上角衣角靠近。左臂爪夹合拢抓取短袖左上角衣袖，右臂爪夹合拢抓取短袖右上角衣角。左臂爪夹夹紧短袖左上角衣袖向爪夹正后方移动靠近短袖中间使衣服另一侧折叠，同时右臂爪夹夹紧短袖右上角衣角向爪夹正后方移动靠近短袖中间使衣服另一侧折叠。左臂爪夹远离短袖，右臂爪夹远离短袖。接着左臂爪夹向爪夹右方移动下降靠近短袖中央，右臂爪夹靠近短袖下摆。右臂爪夹合拢抓取下摆，夹紧短袖下摆，向爪夹左方移动将短袖靠近折叠起来。左臂爪夹远离短袖，右臂爪夹远离短袖。", + "error_success_analysis": "", + "frame": 36, + "progress": 0, + "progress_explanation": "当前为初始状态，左右臂爪夹未开始移动，因此进度为0%。", + "state_description": "当前为初始状态左臂爪夹张开，右臂爪夹处于屏幕外，远离短袖目标物。\n为完成用双臂将桌面上的短袖折叠起来的任务应当：左臂爪夹向爪夹右方移动下降靠近短袖衣袖，右臂爪夹向爪夹左方移动下降靠近短袖右下方衣角。左臂爪夹合拢抓取衣袖，右臂爪夹合拢抓取短袖右下方衣角。", + "time": 1.200833, + "annotations": { + "bbox_1770773768024": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770773768024_1770773843967_73ewz6yeo", + "x": 0.1715, + "y": 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file mode 100644 index 0000000000000000000000000000000000000000..0bd70025528ab9845839353bc7c02d545cc0a482 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000053.json @@ -0,0 +1,1603 @@ +{ + "task_description": "用双臂将桌面上的短袖折叠起来并移动到桌面左上角\n准备开始移动：0%\n[左臂]靠近短袖左下角肩头，[右臂]保持远离短袖不动：5%\n[左臂]抓取短袖左侧肩头，[右臂]保持远离短袖不动：10%\n[左臂]夹紧短袖左下角肩头不动，[右臂]靠近短袖右下角衣角：15%\n左臂]夹紧短袖左下角肩头不动，[右臂]抓取短袖右下角衣角：20%\n[左臂]夹紧短袖左下角肩头将短袖展平并折叠起来，[右臂]抓取短袖下摆右下角将短袖展平并折叠起来：30%\n[左臂]靠近并抓取短袖左下角肩头，[右臂]接近短袖右下角：35%\n[左臂]夹紧短袖左下角肩头不动，[右臂]靠近并抓取短袖右下角衣角：40%\n[左臂]夹紧短袖左下角角衣袖向短袖中间折叠，[右臂]抓取短袖下摆右下角向短袖中间折叠：50%\n[左臂]远离短袖，[右臂]靠近短袖右下角衣角：55%\n[左臂]保持远离短袖，[右臂]抓取短袖右下角衣角：60%\n[左臂]保持远离短袖，[右臂]抓取短袖右下角衣角将短袖折叠起来：65%\n[左臂]抓取短袖使短袖竖直于爪夹正后方，[右臂]远离短袖：70%\n[左臂]抓取短袖左下角衣角，[右臂]接近短袖右下角衣角：75%\n[左臂]夹紧短袖左下角不动，[右臂]抓取短袖右下角：80%\n[左臂]夹紧短袖左下角向短袖中间折叠，[右臂]夹紧短袖右下角向短袖中间折叠：85%\n[左臂]按住短袖，[右臂]远离短袖：90%\n[左臂]按住短袖将短袖移动到桌子左上角，[右臂]保持远离短袖不动：95%\n[左臂]远离短袖，[右臂]保持远离短袖不动：100%", 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"左臂爪夹向爪夹右前方移动下降靠近了短袖肩头，方便抓取肩头。", + "frame": 117, + "progress": 5, + "progress_explanation": "左臂爪夹靠近了短袖肩头，方便抓取肩头。因此进度提升为5%。", + "state_description": "左臂爪夹靠近了短袖肩头，右臂爪夹保持不动。\n为完成用双臂将桌面上的短袖折叠起来并移动到桌面左上角的任务应当：左臂爪夹合拢抓取短袖肩头，右臂爪夹向爪夹左方移动下降靠近短袖右下方衣角。右臂爪夹合拢抓取短袖右下方衣角。", + "time": 3.902383 + }, + { + "action_description": "左臂爪夹合拢，右臂爪夹保持不动", + "annotations": { + "bbox_1770790750821": { + "instances": [ + { + "height": 0.7733333333333333, + "id": "bbox_1770790750821_1770790850590_xtx3qs584", + "width": 0.7289999999999999, + "x": 0.2085, + "y": 0.13066666666666665 + } + ], + "type": "bbox" + }, + "point_1770790761228": { + "instances": [ + { + "id": "point_1770790761228_1770790845945_7kcw8unq6", + "x": 0.3075, + "y": 0.5066666666666667 + } + ], + "type": "point" + } + }, + "correction_plan": 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a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000066.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000066.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000066.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000073.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000073.json new file mode 100644 index 0000000000000000000000000000000000000000..34435e4d6b68e576257a24d001a25fe2430cd148 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part1/annotations/chunk-000/observation.images.head/episode_000073.json @@ -0,0 +1,1665 @@ +{ + "task_description": "用双臂将桌面上的短袖折叠起来：\n准备开始移动：0%\n[左臂]抓取短袖左侧，[右臂]保持远离短袖不动：5%\n左臂]夹紧短袖左侧不动，[右臂]抓取短袖右侧：10%\n[左臂]夹紧短袖左侧将短袖展平，[右臂]夹紧短袖下摆右侧将短袖展平：40%\n[左臂]靠近并抓取短袖左下角肩头，[右臂]接近短袖右下角：45%\n[左臂]夹紧短袖左下角肩头不动，[右臂]靠近并抓取短袖右下角衣角：50%\n[左臂]夹紧短袖左下角肩头向短袖中间折叠，[右臂]抓取短袖下摆右下角向短袖中间折叠：60%\n[左臂]靠近并抓取短袖左上角肩头，[右臂]接近右上角衣角：65%\n[左臂]夹紧短袖左上角肩头，[右臂]靠近并抓取右上角衣角：70%\n[左臂]夹紧短袖左上角肩头向短袖中间折叠，[右臂]夹紧右上角向短袖中间折叠：80%\n[左臂]远离短袖，[右臂]抓取短袖下摆：90%\n[左臂]保持远离短袖，[右臂]夹紧短袖下摆使短袖折叠至一半：95%\n[左臂]保持远离短袖，[右臂]松开短袖，短袖完全折叠：100%", + "progress_points": [ + { + "action_description": "左臂爪夹张开不动，右臂爪夹不动，都未开始移动", + "correction_plan": "左臂爪夹向爪夹右前方移动下降靠近抓取短袖左侧。右臂爪夹向爪夹左前方移动下降靠近抓取短袖右侧。双臂夹紧短袖垂直升高，接着垂直下降将短袖放到桌面上展平。展平后左臂爪夹靠近左下角肩头，爪夹合拢抓取肩头。右臂爪夹靠近右下角衣角，爪夹合拢抓取衣角。双臂夹紧肩头和衣角向短袖中央靠近，将短袖一侧折叠起来。接着左臂爪夹靠近左上角肩头，爪夹合拢抓取肩头。右臂爪夹靠近右上角衣角，爪夹合拢抓取衣角。双臂夹紧肩头和衣角向短袖中央靠近，将短袖另一侧折叠起来。接着左臂爪夹远离短袖，右臂爪夹靠近并抓取短袖下摆，将短袖折叠起来。", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "当前为初始状态，左右臂爪夹未开始移动，因此进度为0%。", + "state_description": "当前为初始状态左臂爪夹张开，右臂爪夹不动，远离目标物。未开始移动。\n为完成用双臂将桌面上的短袖折叠起来的任务应当：左臂爪夹向爪夹右前方移动下降靠近抓取短袖左侧。右臂爪夹向爪夹左前方移动下降靠近抓取短袖右侧。双臂夹紧短袖垂直升高，接着垂直下降将短袖放到桌面上展平。", + "time": 2.524083, + "annotations": { + "bbox_1770800614594": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770800614594_1770800669696_uqwbgndw3", + "x": 0.2985, + "y": 0.10666666666666667, + "width": 0.32900000000000007, + "height": 0.36533333333333323 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹右前方移动下降，右臂爪夹保持不动", + "correction_plan": "左臂爪夹合拢抓取短袖左侧。右臂爪夹向爪夹左前方移动下降靠近抓取短袖右侧。双臂夹紧短袖垂直升高，接着垂直下降将短袖放到桌面上展平。展平后左臂爪夹靠近左下角肩头，爪夹合拢抓取肩头。右臂爪夹靠近右下角衣角，爪夹合拢抓取衣角。双臂夹紧肩头和衣角向短袖中央靠近，将短袖一侧折叠起来。接着左臂爪夹靠近左上角肩头，爪夹合拢抓取肩头。右臂爪夹靠近右上角衣角，爪夹合拢抓取衣角。双臂夹紧肩头和衣角向短袖中央靠近，将短袖另一侧折叠起来。接着左臂爪夹远离短袖，右臂爪夹靠近并抓取短袖下摆，将短袖折叠起来。", + "error_success_analysis": "左臂爪夹向爪夹右前方移动下降靠近了短袖左侧，方便抓取短袖。", + "frame": 104, + "progress": 2, + "progress_explanation": "左臂爪夹靠近了短袖左侧，方便抓取短袖。因此进度提升为2%。", + "state_description": "左臂爪夹靠近了短袖左侧，右臂爪夹保持不动。\n为完成用双臂将桌面上的短袖折叠起来的任务应当：左臂爪夹合拢抓取短袖左侧。右臂爪夹向爪夹左前方移动下降靠近抓取短袖右侧。双臂夹紧短袖垂直升高，接着垂直下降将短袖放到桌面上展平。", + "time": 3.4616, + "annotations": { + "point_1770800626057": { + "type": "point", + "instances": [ + { + "id": "point_1770800626057_1770800727938_0n8857oqv", + "x": 0.3725, + "y": 0.232 + } + ] + }, + "bbox_1770800614594": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770800614594_1770800732332_q0r3k44ac", + "x": 0.3015, + "y": 0.10666666666666667, + "width": 0.32300000000000006, + "height": 0.36400000000000005 + } + ] + } + } + }, + { + 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"左臂爪夹向爪夹的右下方移动，靠近衣服右下方衣肩处。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "", + "frame": 76, + "progress": 0, + "progress_explanation": "当前爪夹为初始状态，暂未移动，因此进度为0%。\n", + "state_description": "当前爪夹张开，没有移动，没有接触衣服。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹向爪夹的右下方移动，靠近衣服下方衣肩处。\n", + "time": 2.527188554510309, + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772082655008_f2b7sux7d", + "x": 0.058374999999999996, + "y": 0.12819791666666666, + "width": 0.716, + "height": 0.5813333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹向爪夹的右下方移动。", + "correction_plan": "左臂爪夹垂直向下移动，并合拢爪夹抓住衣服下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "左臂爪夹向爪夹的右下方移动，靠近了衣服右下方衣肩处。", + "frame": 101, + "progress": 3, + "progress_explanation": "左臂爪夹向爪夹的右下方移动，靠近了衣服右下方衣肩处。方便抓取，因此进度提升为3%。", + "state_description": "左臂爪夹向爪夹的右下方移动，靠近衣服右下方衣肩处。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：左臂爪夹垂直向下移动，并合拢爪夹抓住衣服下方衣肩。\n", + "time": 3.3789239431701033, + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772082672544_p0n60iq6u", + "x": 0.06137499999999998, + "y": 0.12553125000000004, + "width": 0.713, + "height": 0.5773333333333334 + } + ] + }, + "point_1772067957542": { + "type": "point", + "instances": [ + { + "id": "point_1772067957542_1772082689112_6lljp0t8d", + "x": 0.12037500000000001, + "y": 0.43353125 + } + ] + } + } + }, + { + "action_description": "左臂爪夹垂直向下移动，并合拢爪夹。", + "correction_plan": "右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "左臂爪夹垂直向下移动，并合拢爪夹抓取到衣服下方衣肩。", + "frame": 140, + "progress": 6, + "progress_explanation": "当前左臂爪夹已经抓住衣服下方衣肩。因此进度提升至6%.", + "state_description": "左臂爪夹合拢成功抓取到衣服下方衣肩。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n", + "time": 4.678941115335052, + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772082716622_f3ka1fw35", + "x": 0.077375, + "y": 0.13486458333333332, + "width": 0.6980000000000001, + "height": 0.5826666666666667 + } + ] + } + } + }, + { + "action_description": "右臂爪夹向爪夹的左下方移动。", + "correction_plan": "右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "右臂爪夹向爪夹的左下方移动，在水平方向上接近衣服右下方衣角。\n", + "frame": 181, + "progress": 9, + "progress_explanation": "当前右臂爪夹在水平方向上接近衣服右下方衣角。因此进度提升至9%.", + "state_description": "当前右臂爪夹张开，在水平方向上接近衣服右下方衣角。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：右臂爪夹向爪夹的左下方移动，并合拢爪夹抓住衣服右下方衣角。\n", + "time": 6.023786465850516, + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772082733190_t3y4uqfd6", + "x": 0.070375, + "y": 0.13086458333333334, + "width": 0.705, + "height": 0.5853333333333334 + } + ] + }, + "point_1772067965126": { + "type": "point", + "instances": [ + { + "id": "point_1772067965126_1772082742494_vuh1by2z2", + "x": 0.795375, + "y": 0.4228645833333333 + } + ] + }, + "point_1772067957542": { + "type": "point", + "instances": [ + { + "id": "point_1772067957542_1772082782062_1esr1o31a", + "x": 0.146375, + "y": 0.4921979166666667 + } + ] + } + } + }, + { + "time": 6.920350032860824, + "frame": 208, + "progress": 12, + "action_description": "右臂爪夹垂直向下移动，并合拢爪夹。", + "state_description": "当前右臂爪夹合拢，抓住衣服右下方衣角。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。\n\n", + "progress_explanation": "当前右臂爪夹抓住了衣服右下方衣角，因此进度提升为12%。", + "error_success_analysis": "右臂爪夹垂直向下移动，并合拢爪夹，成功抓住了衣服右下方衣角。", + "correction_plan": "双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + 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"双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": 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"双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，在水平方向上接近衣服另一面。\n", + "frame": 288, + "progress": 18, + "progress_explanation": "当前双臂爪夹抓住衣服，在水平方向上接近衣服另一面。因此进度提升至18%。\n", + "state_description": "当前双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n", + "time": 9.610040733891752, + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772082833915_kdu68j4hy", + "x": 0.003375000000000002, + "y": 0.00953125, + "width": 0.852, + "height": 0.7933333333333332 + } + ] + } + } + }, + { + "time": 11.044542441108247, + "frame": 331, + "progress": 19, + "action_description": "双臂爪夹张开，向爪夹的上方抬起离开。", + "state_description": "双臂爪夹张开，向爪夹的上方抬起离开，衣服第一次没有折叠好。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：重新折叠，左臂爪夹向爪夹的下方移动，靠近衣服右下方衣肩处。", + "progress_explanation": "双臂爪夹张开，向爪夹的上方抬起离开，衣服第一次没有折叠好。因此进度提升为19%。", + "error_success_analysis": "双臂爪夹张开，向爪夹的上方抬起离开，衣服第一次没有折叠好。", + "correction_plan": "左臂爪夹向爪夹的右下方移动，靠近衣服右下方衣肩处。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", 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"双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，在水平方向上接近衣服另一面。\n", + "frame": 491, + "progress": 18, + 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"左臂爪夹向爪夹的右下方移动，靠近衣服左下方衣肩。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣肩。\n右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "双臂爪夹张开，向爪夹的上方抬起离开，成功完成第一次折叠。\n", + "frame": 532, + "progress": 20, + "progress_explanation": "当前双臂爪夹离开，已经完成第一次折叠，因此进度提升至20%。\n", + 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"右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。\n双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "左臂爪夹合拢，成功抓住衣服左下方衣肩。\n", + "frame": 573, + "progress": 26, + "progress_explanation": "当前左臂爪夹已经抓住衣服左下方衣肩。因此进度提升至26%。\n", + "state_description": 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"correction_plan": "双臂爪夹合拢抓住衣服，向爪夹的上方抬起，同时向爪夹的后方移动。\n双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "annotations": { + "bbox_1772067943957": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772067943957_1772083148406_fbpxgyy8t", + "x": 0.03237500000000016, + "y": 0.10953125, + "width": 0.8320000000000001, + "height": 0.8026666666666668 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"双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n双臂爪夹向爪夹的下方移动，接着双臂爪夹张开，向爪夹的上方抬起，完成第二次折叠。\n右臂爪夹向爪夹的左下方移动，靠近衣服衣摆，接着右臂爪夹合拢抓取衣服衣摆。\n右臂爪夹抓住衣摆，向爪夹的上方抬起，并向爪夹的左边移动，靠近衣服衣领处。\n右臂爪夹向爪夹的上方抬起，并向爪夹右方移动，同时张开爪夹，完成第三次折叠。\n左臂爪夹向爪夹的右下方移动，靠近衣领处。左臂爪夹继续向爪夹的右下方移动，并合拢爪夹抓住衣领处的衣服。\n左臂爪夹抓紧衣服逆时针旋转90度，使衣服移动到桌面中间。左臂爪夹张开，向爪夹的后上方抬起，离开衣服。\n左臂爪夹向爪夹的右下方移动，靠近衣服左下角。\n左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左下方衣角，同时右臂爪夹向爪夹的左下方移动，靠近衣服右下方衣角。\n右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右下方衣角。双臂爪夹合拢，向爪夹的上方抬起，并向爪夹的后方移动。\n双臂爪夹抓住衣服向爪夹的前方移动，并向爪夹的下方移动，左右臂同时松开并向爪夹的上方抬起，完成第四次折叠。\n双臂爪夹向爪夹的上方抬起，同时左右臂爪夹同时向爪夹的下方移动，抵住衣服的左右两角。\n接着左臂爪夹向爪夹的左上方移动，右臂爪夹向爪夹的右上方移动，左右臂爪夹将衣服摊平。左臂爪夹向爪夹的左上方抬起离开，右臂爪夹向爪夹的右上方抬起离开。\n左臂爪夹向爪夹的右下方移动，靠近衣服后左臂爪夹垂直下移并抵住衣服。\n左臂爪夹抵住衣服，先向爪夹的左侧移动，然后向爪夹的前方移动至桌面左上角。左臂爪夹向爪夹的上方抬起离开衣服。\n", + "error_success_analysis": "双臂爪夹向爪夹的上方抬起，同时向爪夹的后方移动，在水平方向上接近桌面下侧。", + "frame": 625, + "progress": 35, + "progress_explanation": "当前双臂爪夹合拢，在水平方向上接近桌面下侧。因此进度提升为35%。", + "state_description": "当前双臂爪夹合拢，在水平方向上接近桌面下侧。\n为完成用双臂爪夹将衣服叠成方块，放在桌面左上角的任务应当：双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动，靠近已经折叠的另一面衣服。\n", + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part2/annotations/chunk-000/observation.images.head/episode_000070.json @@ -0,0 +1,1830 @@ +{ + "task_description": "将雨衣放进盒子中并将盒子折好并平放在桌面上\n准备开始移动：0%\n[左臂]抓取盒子盖子，[右臂]抓取雨衣：10%\n[左臂]继续保持抓取盒子盖子，[右臂]抓住雨衣靠近盒子：15%\n[左臂]继续保持抓取盒子盖子，[右臂]抓住雨衣放入盒子：20%\n[左臂]继续保持抓取盒子，[右臂]爪夹张开，雨衣落入盒子：25%\n[左臂]继续抓取盒子，[右臂]抓住盒子：35%\n[左臂]抓取盒子盖子折叠立起，[右臂]抓住盒子盖子：50%\n[左臂]盒子盖子即将合拢，[右臂]盒子盖子即将合拢：60%\n[左臂]将盒子盖子完全合上，[右臂]将盒子盖子完全合上：65%\n[左臂]将盒子立起，[右臂]将盒子立起：70%\n[左臂]抓取盒子左侧耳朵，[右臂]抓住盒子右侧耳朵：75%\n[左臂]抓取耳朵靠近缝隙，[右臂]抓取耳朵靠近缝隙：80%\n[左臂]将耳朵完全折进缝隙中，[右臂]将耳朵完全折进缝隙中：90%\n[左臂]将折好的盒子平放在桌面上，[右臂]将折好的盒子平放在桌面上：95%\n[左臂]爪夹张开远离折好的盒子，[右臂]爪夹张开远离折好的盒子：100%\n", + "progress_points": [ + { + "action_description": "爪夹左臂处于屏幕外，爪夹右臂处于屏幕外，都未开始移动\n", + "correction_plan": "爪夹左臂向爪夹右方移动出现在屏幕中后向靠近盒子盖子移动，靠近后爪夹左臂合拢抓取盒子盖子左侧边缘。爪夹右臂向爪夹左方移动出现在屏幕中后向靠近雨衣移动，靠近后爪夹右臂合拢抓取雨衣。左臂保持抓取盒子盖子左侧边缘的动作，接着爪夹右臂抓取雨衣向爪夹上方垂直升高并向爪夹左方移动下降来到打开的盒子的正上方，右臂爪夹垂直下降将雨衣放到盒子里，右臂爪夹松开，雨衣掉落到盒子里。左臂爪夹保持抓取盒子盖子左侧边缘的状态，右臂爪夹向爪夹下方靠近盒子右侧边移动至右侧边两侧，右臂爪夹合拢抓取盒子右侧边。右臂保持抓取盒子右侧边缘的动作，左臂抓取盒子盖子左侧边缘向爪夹上方抬升并向后移动将盖子合拢。左臂爪夹保持抓取盒子盖子左侧边缘的动作，接着右臂爪夹张开向爪夹方向的上方移动离开盒子，向爪夹方向的右侧移动靠近盒子盖子的右侧边缘。爪夹右臂合拢抓取盒子盖子的右侧边缘。双臂爪夹抓住盖子边缘，左臂爪夹向爪夹右侧将盒子盖子左侧边缘折进盒子中，右臂爪夹向爪夹左侧将盒子盖子的右侧边缘折进盒子中。双臂爪夹抓住盒子盖子边缘，向爪夹的后侧下方移动半合拢盖子，接着爪夹张开，远离盒子盖子，盒子盖子即将完全合拢。接着左臂爪夹向爪夹右下移动触及盒子盖子表面，右臂爪夹向爪夹左下方向移动触及盒子表面。双臂爪夹同时触及盒子表面，向爪夹方向的下方移动将盒子完全合拢。接着左臂爪夹向爪夹左侧离开盒子，右臂爪夹向爪夹右侧离开盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，右臂爪夹向爪夹左下触及盒子右侧边。双臂爪夹触及盒子两侧同时向爪夹的前上方移动将盒子立起。双臂爪夹同时离开盒子并向爪夹上方移动靠近盒子侧边耳朵，双臂爪夹分别同时抓取左右两侧耳朵。双臂爪夹抓取左右两侧耳朵，左臂爪夹向爪夹右侧将左侧耳朵折进缝隙，右臂爪夹向爪夹左侧将右侧耳朵折进缝隙。双臂爪夹抓取左右两侧耳朵同时向爪夹的后侧下方移动将耳朵半折进缝隙中。双臂爪夹同时张开并向爪夹上方离开盒子的耳朵。双臂爪夹同时向爪夹方向的下方移动将半折好的盒子完全折好。左臂爪夹向爪夹左侧移动远离盒子，右臂爪夹向爪夹右侧移动远离盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，同时右臂爪夹向爪夹左下移动触及盒子右侧边，双臂夹取盒子。夹取盒子的双臂向爪夹方向的后侧移动并下落将盒子平放在桌面上。左臂爪夹张开向爪夹后侧上方移动远离盒子，右臂爪夹张开向爪夹后侧上方移动远离盒子", + 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"爪夹左臂保持合拢抓取盒子盖子左侧边缘，右臂爪夹向爪夹左下移动靠近雨衣。靠近后爪夹右臂合拢抓取雨衣。左臂保持抓取盒子盖子左侧边缘的动作，接着爪夹右臂抓取雨衣向爪夹上方垂直升高并向爪夹左方移动下降来到打开的盒子的正上方，右臂爪夹垂直下降将雨衣放到盒子里，右臂爪夹松开，雨衣掉落到盒子里。左臂爪夹保持抓取盒子盖子左侧边缘的状态，右臂爪夹向爪夹下方靠近盒子右侧边移动至右侧边两侧，右臂爪夹合拢抓取盒子右侧边。右臂保持抓取盒子右侧边缘的动作，左臂抓取盒子盖子左侧边缘向爪夹上方抬升并向后移动将盖子合拢。左臂爪夹保持抓取盒子盖子左侧边缘的动作，接着右臂爪夹张开向爪夹方向的上方移动离开盒子，向爪夹方向的右侧移动靠近盒子盖子的右侧边缘。爪夹右臂合拢抓取盒子盖子的右侧边缘。双臂爪夹抓住盖子边缘，左臂爪夹向爪夹右侧将盒子盖子左侧边缘折进盒子中，右臂爪夹向爪夹左侧将盒子盖子的右侧边缘折进盒子中。双臂爪夹抓住盒子盖子边缘，向爪夹的后侧下方移动半合拢盖子，接着爪夹张开，远离盒子盖子，盒子盖子即将完全合拢。接着左臂爪夹向爪夹右下移动触及盒子盖子表面，右臂爪夹向爪夹左下方向移动触及盒子表面。双臂爪夹同时触及盒子表面，向爪夹方向的下方移动将盒子完全合拢。接着左臂爪夹向爪夹左侧离开盒子，右臂爪夹向爪夹右侧离开盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，右臂爪夹向爪夹左下触及盒子右侧边。双臂爪夹触及盒子两侧同时向爪夹的前上方移动将盒子立起。双臂爪夹同时离开盒子并向爪夹上方移动靠近盒子侧边耳朵，双臂爪夹分别同时抓取左右两侧耳朵。双臂爪夹抓取左右两侧耳朵，左臂爪夹向爪夹右侧将左侧耳朵折进缝隙，右臂爪夹向爪夹左侧将右侧耳朵折进缝隙。双臂爪夹抓取左右两侧耳朵同时向爪夹的后侧下方移动将耳朵半折进缝隙中。双臂爪夹同时张开并向爪夹上方离开盒子的耳朵。双臂爪夹同时向爪夹方向的下方移动将半折好的盒子完全折好。左臂爪夹向爪夹左侧移动远离盒子，右臂爪夹向爪夹右侧移动远离盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，同时右臂爪夹向爪夹左下移动触及盒子右侧边，双臂夹取盒子。夹取盒子的双臂向爪夹方向的后侧移动并下落将盒子平放在桌面上。左臂爪夹张开向爪夹后侧上方移动远离盒子，右臂爪夹张开向爪夹后侧上方移动远离盒子", + "error_success_analysis": 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"右臂爪夹向爪夹左下方移动下降靠近雨衣，并闭合爪夹抓取雨衣，左臂爪夹保持抓取盒子盖子左侧边缘\n", + "correction_plan": "左臂保持抓取盒子盖子左侧边缘的动作，接着爪夹右臂抓取雨衣向爪夹上方垂直升高并向爪夹左方移动下降来到打开的盒子的正上方，右臂爪夹垂直下降将雨衣放到盒子里，右臂爪夹松开，雨衣掉落到盒子里。左臂爪夹保持抓取盒子盖子左侧边缘的状态，右臂爪夹向爪夹下方靠近盒子右侧边移动至右侧边两侧，右臂爪夹合拢抓取盒子右侧边。右臂保持抓取盒子右侧边缘的动作，左臂抓取盒子盖子左侧边缘向爪夹上方抬升并向后移动将盖子合拢。左臂爪夹保持抓取盒子盖子左侧边缘的动作，接着右臂爪夹张开向爪夹方向的上方移动离开盒子，向爪夹方向的右侧移动靠近盒子盖子的右侧边缘。爪夹右臂合拢抓取盒子盖子的右侧边缘。双臂爪夹抓住盖子边缘，左臂爪夹向爪夹右侧将盒子盖子左侧边缘折进盒子中，右臂爪夹向爪夹左侧将盒子盖子的右侧边缘折进盒子中。双臂爪夹抓住盒子盖子边缘，向爪夹的后侧下方移动半合拢盖子，接着爪夹张开，远离盒子盖子，盒子盖子即将完全合拢。接着左臂爪夹向爪夹右下移动触及盒子盖子表面，右臂爪夹向爪夹左下方向移动触及盒子表面。双臂爪夹同时触及盒子表面，向爪夹方向的下方移动将盒子完全合拢。接着左臂爪夹向爪夹左侧离开盒子，右臂爪夹向爪夹右侧离开盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，右臂爪夹向爪夹左下触及盒子右侧边。双臂爪夹触及盒子两侧同时向爪夹的前上方移动将盒子立起。双臂爪夹同时离开盒子并向爪夹上方移动靠近盒子侧边耳朵，双臂爪夹分别同时抓取左右两侧耳朵。双臂爪夹抓取左右两侧耳朵，左臂爪夹向爪夹右侧将左侧耳朵折进缝隙，右臂爪夹向爪夹左侧将右侧耳朵折进缝隙。双臂爪夹抓取左右两侧耳朵同时向爪夹的后侧下方移动将耳朵半折进缝隙中。双臂爪夹同时张开并向爪夹上方离开盒子的耳朵。双臂爪夹同时向爪夹方向的下方移动将半折好的盒子完全折好。左臂爪夹向爪夹左侧移动远离盒子，右臂爪夹向爪夹右侧移动远离盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，同时右臂爪夹向爪夹左下移动触及盒子右侧边，双臂夹取盒子。夹取盒子的双臂向爪夹方向的后侧移动并下落将盒子平放在桌面上。左臂爪夹张开向爪夹后侧上方移动远离盒子，右臂爪夹张开向爪夹后侧上方移动远离盒子", + "error_success_analysis": 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"左臂爪夹向爪夹左侧离开盒子，右臂爪夹向爪夹右侧离开盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，右臂爪夹向爪夹左下触及盒子右侧边。双臂爪夹触及盒子两侧同时向爪夹的前上方移动将盒子立起。双臂爪夹同时离开盒子并向爪夹上方移动靠近盒子侧边耳朵，双臂爪夹分别同时抓取左右两侧耳朵。双臂爪夹抓取左右两侧耳朵，左臂爪夹向爪夹右侧将左侧耳朵折进缝隙，右臂爪夹向爪夹左侧将右侧耳朵折进缝隙。双臂爪夹抓取左右两侧耳朵同时向爪夹的后侧下方移动将耳朵半折进缝隙中。双臂爪夹同时张开并向爪夹上方离开盒子的耳朵。双臂爪夹同时向爪夹方向的下方移动将半折好的盒子完全折好。左臂爪夹向爪夹左侧移动远离盒子，右臂爪夹向爪夹右侧移动远离盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，同时右臂爪夹向爪夹左下移动触及盒子右侧边，双臂夹取盒子。夹取盒子的双臂向爪夹方向的后侧移动并下落将盒子平放在桌面上。左臂爪夹张开向爪夹后侧上方移动远离盒子，右臂爪夹张开向爪夹后侧上方移动远离盒子", + "error_success_analysis": "双臂爪夹完全合拢，方便后续双臂爪夹将盒子调整角度折叠盒子", + "frame": 779, + "progress": 66, + "progress_explanation": "双臂爪夹合拢方便将盒子调整并折叠，因此进度提升为66%", + "state_description": "双臂爪夹均为合拢状态并位于盒子盖子表面\n为完成将雨衣放进盒子中后将盒子折好并平放在桌面上的任务应当：左臂爪夹向爪夹左侧离开盒子，右臂爪夹向爪夹右侧离开盒子", + "time": 25.981703, + "annotations": { + "bbox_1772008448742": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772008448742_1772100346198_1g900384q", + "x": 0.0915, + "y": 0.328, + "width": 0.8190000000000002, + "height": 0.656 + } + ] + }, + "point_1772008461326": { + "type": "point", + "instances": [ + { + 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"双臂爪夹触及盒子两侧夹取盒子同时向爪夹的前上方移动将盒子向上立起。双臂爪夹同时离开盒子并向爪夹上方移动靠近盒子侧边耳朵，双臂爪夹分别同时抓取左右两侧耳朵。双臂爪夹抓取左右两侧耳朵，左臂爪夹向爪夹右侧将左侧耳朵折进缝隙，右臂爪夹向爪夹左侧将右侧耳朵折进缝隙。双臂爪夹抓取左右两侧耳朵同时向爪夹的后侧下方移动将耳朵半折进缝隙中。双臂爪夹同时张开并向爪夹上方离开盒子的耳朵。双臂爪夹同时向爪夹方向的下方移动将半折好的盒子完全折好。左臂爪夹向爪夹左侧移动远离盒子，右臂爪夹向爪夹右侧移动远离盒子。左臂爪夹向爪夹右下移动触及盒子左侧边，同时右臂爪夹向爪夹左下移动触及盒子右侧边，双臂夹取盒子。夹取盒子的双臂向爪夹方向的后侧移动并下落将盒子平放在桌面上。左臂爪夹张开向爪夹后侧上方移动远离盒子，右臂爪夹张开向爪夹后侧上方移动远离盒子", + "error_success_analysis": "双臂爪夹夹取盒子，方便将盒子向上立起将盒子耳朵折叠", + "frame": 808, + "progress": 68, + "progress_explanation": "双臂爪夹夹取盒子，方便将盒子立起折叠耳朵，因此进度提升为68%", + "state_description": "双臂爪夹均为合拢状态，并位于盒子左右两侧边。\n为完成将雨衣放进盒子中后将盒子折好并平放在桌面上的任务应当：双臂爪夹触及盒子两侧夹取盒子同时向爪夹的前上方移动将盒子向上立起", + "time": 26.939321, + "annotations": { + "bbox_1772008448742": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772008448742_1772100389645_jq4yt6tvt", + "x": 0.0885, + "y": 0.33066666666666666, + "width": 0.8200000000000001, + "height": 0.6440000000000001 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时将向爪夹方向的上方抬升并向前移动将盒子向上立起", + "correction_plan": 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0.34933333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1772008445198", + "name": "雨衣" + }, + { + "color": "#FF9800", + "id": "bbox_1772008448742", + "name": "盒子" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1772008454286", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1772008461326", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1772008471510", + "name": "右臂爪夹左" + }, + { + "color": "#FF9800", + "id": "point_1772008482757", + "name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part2/annotations/chunk-000/observation.images.head/episode_000077.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part2/annotations/chunk-000/observation.images.head/episode_000077.json new file mode 100644 index 0000000000000000000000000000000000000000..363ea9b61fc2f3888fad6867fc316a6dca1f7cec --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/arx_60hz_part2/annotations/chunk-000/observation.images.head/episode_000077.json @@ -0,0 +1,9 @@ +{ + "task_description": "", + "progress_points": [], + "tags": [ + "custom3" + ], + "bbox_targets": [], + "point_targets": [] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000000.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000000.json new file mode 100644 index 0000000000000000000000000000000000000000..eacf161e7b6673b988b6c853ff6cd252218388cc --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000000.json @@ -0,0 +1,1389 @@ +{ + "task_description": "用双臂抓起衣服使其折叠:\n准备开始移动：0%\n[左臂] 抓住衣服，[右臂] 靠近衣服：10%\n[左臂][右臂] 抓住衣服：20%\n[左臂] [右臂] 抓住衣服平铺：30%\n[左臂] 抓住衣服左下角，[右臂] 抓住衣服右下角：50%\n[左臂] [右臂] 抓住衣服第一次折叠：60%\n[左臂] 抓住衣服左上角，[右臂] 抓住衣服右上角：70%\n[左臂] [右臂] 抓住衣服第二次折叠：80%\n[左臂] 离开衣服，[右臂] 抓住衣服右侧：90%\n[右臂] 抓住衣服右侧第三次折叠，后离开衣服：100%", + "progress_points": [ + { + "action_description": "左臂爪夹保持打开状态，准备开始移动。", + "annotations": { + "bbox_1770368970205": { + "instances": [ + { + "height": 0.34428794992175266, + "id": "bbox_1770368970205_1770370789997_7yqc2d4ic", + "width": 0.3908450704225352, + "x": 0.3544600938967136, + "y": 0.2816901408450704 + } + ], + "type": "bbox" + } + }, + "correction_plan": 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"左臂爪夹保持打开状态，准备开始移动。", + "correction_plan": "左臂爪夹向爪夹方向的右前方方移动，到达衣服的正上方，后下降，抓取衣服，右臂爪夹向爪夹方向的左前方移动，到达衣服的正上方，后下降，抓取衣服。左右两臂爪夹抓取衣服后上升，向爪夹方向的后方移动，将衣服平铺再桌子上。左臂爪夹向爪夹方向的左后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。左臂爪夹离开衣服，右臂爪夹抓住衣服右侧上升向爪夹方向的左侧移动，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。", + "error_success_analysis": "", + "frame": 90, + "progress": 0, + "progress_explanation": "目前左臂爪夹处于初抬状态，尚未移动，进度为0%。", + "state_description": "当前状态为左臂爪夹张开，没有移动，没有触碰衣服。\n为完成用双臂抓起衣服使其折叠的任务应当:左臂爪夹向爪夹方向的右前方移动，准备抓取衣服。", + "time": 2.984666, + "annotations": { + "point_1770800072487": { + "type": "point", + "instances": [ + { + "id": "point_1770800072487_1770886794975_gnj2rgkxy", + "x": 0.4025, + "y": 0.16533333333333333 + } + ] + }, + "bbox_1770800071431": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1770800071431_1770886802119_p2e07b2u0", + "x": 0.3965, + "y": 0.2773333333333333, + 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"type": "bbox" + }, + "point_1770773677445": { + "instances": [ + { + "id": "point_1770773677445_1770799969775_irhrqmfr4", + "x": 0.5025000000000001, + "y": 0.16266666666666665 + } + ], + "type": "point" + } + }, + "correction_plan": "右臂爪夹抓住衣服右侧，向爪夹方向的右侧移动并下降，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。", + "error_success_analysis": "右臂爪夹抓住衣服右侧，抬升向爪夹方向的右侧移动。", + "frame": 1568, + "progress": 95, + "progress_explanation": "当前右臂爪夹抓住衣服开始折叠，因此进度提升至95%。", + "state_description": "当前状态为右臂爪夹合拢，右臂爪夹抓住衣服开始折叠。\n为完成用双臂抓起衣服使其折叠的任务应当:右臂爪夹抓住衣服右侧，向爪夹方向的右侧移动并下降，折叠衣服。", + "time": 52.2709 + }, + { + "action_description": "右臂爪夹抓住衣服右侧，向爪夹方向的右侧移动并下降，后右臂爪夹张开，完成第三次折叠。", + "annotations": { + "bbox_1770773675469": { + "instances": [ + { + "height": 0.3853333333333334, + "id": "bbox_1770773675469_1770800000327_oajm8i1dl", + "width": 0.441, + "x": 0.2785, + "y": 0.2973333333333333 + } + ], + "type": "bbox" + }, + "point_1770773677445": { + "instances": [ + { + "id": "point_1770773677445_1770799992039_7vz4fuuy9", + "x": 0.3225, + "y": 0.18533333333333335 + } + ], + "type": "point" + }, + "point_1770773677773": { + "instances": [ + { + "id": "point_1770773677773_1770799994687_ai6vayumx", + "x": 0.4625, + "y": 0.18933333333333333 + } + ], + "type": "point" + } + }, + "correction_plan": "", + "error_success_analysis": "右臂爪夹抓住衣服右侧，向爪夹方向的右侧移动并下降，后右臂爪夹张开，完成第三次折叠。", + "frame": 1598, + "progress": 100, + "progress_explanation": "当前右臂爪夹张开，衣服已完成第三次折叠，因此进度提升至100%。", + "state_description": "当前状态为右臂爪夹张开，衣服已完成第三次折叠。\n已完成用双臂抓起衣服使其折叠的任务。", + "time": 53.25605 + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1770773675469", + "name": "衣服" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1770773676685", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1770773677053", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1770773677445", + "name": "右臂爪夹左" + }, + { + "color": "#FF9800", + "id": "point_1770773677773", + "name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000005.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000005.json new file mode 100644 index 0000000000000000000000000000000000000000..cb2669d84f23eb4635dfc8fc3586a464fa8be3b5 --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000005.json @@ -0,0 +1,2067 @@ +{ + "task_description": "用双臂将衣服叠起来：\n爪夹准备移动：0%\n[左臂]抓取衣服[右臂]靠近衣服:6%\n[左臂]将衣服展开,[右臂]将衣服展开:12%\n[左臂]将衣服放至桌面,[右臂]将衣服放至桌面:18%\n[左臂]抓取衣袖,[右臂]靠近衣角:24%\n[左臂]再次展开衣服,[右臂]再次展开衣服:30%\n[左臂]和[右臂]松开爪夹使衣服被再次放至桌面:36%\n[左臂]第三次展开衣服,[右臂]第三次展开衣服:42%\n[左臂]第三次将衣服放至桌面,[右臂]第三次将衣服放至桌面:48%\n[左臂]抓取衣服左下角,[右臂]靠近衣服右下角:54%\n[左臂]和[右臂]抓取衣服一侧竖直上升:60%\n[左臂]和[右臂]松开使衣服一侧向中间对折:66%\n[左臂]抓取衣服左上角,[右臂]靠近衣服右上角:72%\n[左臂]和[右臂]抓取衣服另一侧竖直上升:78%\n[左臂]和[右臂]松开使衣服另一侧向中间对折:84%\n[左臂]静止不动,[右臂]抓取衣服下摆:90%\n[左臂]静止不动,[右臂]将衣服下摆向另一侧对折:100%", + "progress_points": [ + { + "action_description": "当前爪夹张开,此时爪夹准备移动.", + "correction_plan": "[左臂]垂直下降靠近衣服,[右臂]保持不动,[左臂]合拢抓取衣服,[右臂]保持不动,[左臂]抓取衣服,[右臂]靠近衣服,[左臂]保持不动,[右臂]抓取衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]向爪夹方向左边移动,[右臂]向爪夹方向右边移动展开衣服,[左臂]和[右臂]抓取衣服向爪夹方向卡下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", 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"[左臂]向爪夹方向左边移动,[右臂]向爪夹方向右边移动展开衣服,[左臂]和[右臂]抓取衣服向爪夹方向卡下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]和[右臂]爪夹合拢抓取衣服成功竖直上升.", + "frame": 225, + "progress": 10, + "progress_explanation": "[左臂]和[右臂]抓取衣服竖直上升.因此当前进度提升至10%.", + "state_description": "当前[左臂]和[右臂]爪夹合拢抓取衣服,为完成用双臂将衣服叠起来的任务应当:[左臂]向爪夹方向左边移动,[右臂]向爪夹方向右边移动展开衣服", + "time": 7.495934973800755, + "annotations": { + "point_1772071856345": { + "type": "point", + "instances": [ + { + "id": "point_1772071856345_1772073421103_2kgcrpbvx", + "x": 0.28811106639947104, + "y": 0.20509257618468618 + } + ] + }, + "point_1772071816009": { + "type": "point", + "instances": [ + { + "id": "point_1772071816009_1772073423981_0miqfs83v", + "x": 0.8001110351494729, + "y": 0.1930925771612486 + } + ] + }, + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073432324_3t0ypf81h", + "x": 0.24311106914605288, + "y": 0.12509258269510232, + "width": 0.6069999629516625, + "height": 0.40399996712239855 + } + ] + } + } + }, + { + "action_description": "[左臂]向爪夹方向左边移动,[右臂]向爪夹方向右边移动展开衣服,", + "correction_plan": "[左臂]和[右臂]抓取衣服向爪夹方向后下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + 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"[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向左边移动靠近衣服,[左臂]爪夹保持不变,[右臂]爪夹抓取衣服,[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向右上方移动.[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]保持不动,[右臂]爪夹在运动过程中张开,导致衣服一端掉落至桌面.", + "frame": 296, + "progress": -5, + "progress_explanation": "[左臂]保持不动,[右臂]爪夹张开.因此当前进度跌落至-5%", + "state_description": "当前[左臂]爪夹保持不动,此时[右臂]爪夹张开,为完成用双臂将衣服叠起来的任务应当:[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向左边移动靠近衣服.", + "time": 9.875350619957448, + "annotations": { + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073405758_qjxfp28xp", + "x": -0.0008889159613698754, + "y": 0.2902777473732302, + "width": 0.07299999554443386, + "height": 0.26133331206597393 + } + ] + } + } + }, + { + "action_description": "[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向左边移动靠近衣服.", + "correction_plan": "[左臂]爪夹保持不变,[右臂]爪夹抓取衣服,[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向右上方移动.[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向左边移动成功靠近衣服.", + "frame": 361, + "progress": 6, + "progress_explanation": "当前[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向左边移动靠近衣服.因此当前进度提升至6%.", + "state_description": "当前[左臂]爪夹保持不变,此时[右臂]爪夹靠近衣服,为完成用双臂将衣服叠起来的任务应当:[左臂]爪夹保持不变,[右臂]爪夹抓取衣服,", + "time": 12.044817826747376, + "annotations": { + "point_1772071816009": { + "type": "point", + "instances": [ + { + "id": "point_1772071816009_1772073389061_5to66m7sh", + "x": 0.1781110731133378, + "y": 0.2610925716273949 + } + ] + }, + "point_1772071816139": { + "type": "point", + "instances": [ + { + "id": "point_1772071816139_1772073391693_jirccx91c", + "x": 0.30311106548394373, + "y": 0.1957592436109014 + } + ] + }, + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073397689_rx9h3mmi0", + "x": 0.0011110839165598195, + "y": 0.455759222452049, + "width": 0.1989999878540046, + "height": 0.515999958007816 + } + ] + } + } + }, + { + "action_description": "[左臂]爪夹保持不变,[右臂]爪夹抓取衣服,", + "correction_plan": "[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向右上方移动.[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]爪夹保持不变,[右臂]爪夹合拢成功抓取衣服,", + "frame": 403, + "progress": 8, + "progress_explanation": "[左臂]爪夹保持不变,[右臂]爪夹抓取衣服,因此当前进度提升至8%.", + "state_description": "当前[左臂]爪夹保持不变,此时[右臂]爪夹合拢抓取衣服,为完成用双臂将衣服叠起来的任务应当:[右臂]爪夹向爪夹方向右上方移动.", + "time": 13.444474089192493, + "annotations": { + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073371959_6r4p4a86s", + "x": -0.0008889159613698662, + "y": 0.3957592273348611, + "width": 0.20999998718261792, + "height": 0.5906666185980942 + } + ] + } + } + }, + { + "action_description": "[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向右上方移动.", + "correction_plan": "[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]爪夹保持不变,[右臂]爪夹向爪夹方向右上方移动.使[右臂]爪夹抓取衣服并展开衣服.", + "frame": 450, + "progress": 12, + "progress_explanation": "[左臂]爪夹保持不变,[右臂]爪夹抓取衣服并展开衣服,因此当前进度提升至12%.", + "state_description": "当前[左臂]爪夹保持不变,此时[右臂]爪夹抓取衣服并展开衣服,为完成用双臂将衣服叠起来的任务应当:[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,", + "time": 14.984095977882115, + "annotations": { + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073346456_ldj19yw6b", + "x": 0.002111083855524667, + "y": 0.0021296181535141474, + "width": 0.8009999511108428, + "height": 0.5333332899305592 + } + ] + } + } + }, + { + "action_description": "[左臂]和[右臂]抓取衣服竖直上升.", + "correction_plan": "[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]和[右臂]抓取衣服成功竖直上升.", + "frame": 502, + "progress": 14, + "progress_explanation": "[左臂]和[右臂]抓取衣服竖直上升.因此当前进度提升至14%.", + "state_description": "当前[左臂]和[右臂]同时抓取衣服,此时衣服与桌面垂直距离增加,为完成用双臂将衣服叠起来的任务应当：[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面,", + "time": 16.733666305938513, + "annotations": { + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073333556_1pmzwd642", + "x": 0.6091110468071871, + "y": 0.002277770810728287, + "width": 0.3839999765625014, + "height": 0.26533331174045316 + } + ] + } + } + }, + { + "action_description": "[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面.", + "correction_plan": "[左臂]和[右臂]爪夹松开使衣服落在桌面,[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "[左臂]和[右臂]抓取衣服向爪夹方向前下方移动,使衣服下降至桌面.", + "frame": 594, + "progress": 16, + "progress_explanation": "[左臂]和[右臂]抓取衣服向爪夹方向前下方移动至桌面.因此当前进度提升至16%.", + "state_description": "当前[左臂]和[右臂]爪夹合拢抓取衣服,此时衣服位于桌面,为完成用双臂将衣服叠起来的任务应当:[左臂]和[右臂]爪夹松开使衣服落在桌面.", + "time": 19.812910083317764, + "annotations": { + "point_1772071856345": { + "type": "point", + "instances": [ + { + "id": "point_1772071856345_1772073306186_althirk52", + "x": 0.2131110709771075, + "y": 0.10094442944788172 + } + ] + }, + "bbox_1772071815280": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772071815280_1772073313926_py703tnuj", + "x": 0.16611107384575965, + "y": 0.055611099803784196, + "width": 0.6099999627685568, + "height": 0.6106666169704903 + } + ] + } + } + }, + { + "action_description": "[左臂]和[右臂]爪夹松开使衣服落在桌面,", + "correction_plan": "[左臂]向爪夹方向后方移动靠近衣服一角,[右臂]保持不动,[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "当前[左臂]和[右臂]爪夹松开成功将衣服放在桌面,", + 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"[左臂]抓取衣服一角,[右臂]保持不动,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": "[左臂]向爪夹方向后方移动成功靠近衣服一角,[右臂]保持不动,", + "frame": 655, + 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"[左臂]保持不动,[右臂]垂直下降靠近衣服一角,[左臂]保持不动,[右臂]抓取衣服一角,[左臂]保持不动,[右臂]竖直上升,[左臂]保持不动,[右臂]向爪夹方向后方移动至衣服另一角的正上方,[左臂]保持不动,[右臂]垂直下降抓取衣服另一角,[左臂]抓取衣角向爪夹方向左边移动,[右臂]抓取另一角向爪夹方向右边移动再次展开衣服,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹方向前下方移动再次将衣服放至桌面,[左臂]和[右臂]松开爪夹使衣服落在桌面,[左臂]向爪夹方向右后方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]合拢抓取衣服一角,[左臂]和[右臂]抓取衣服顺时针转动衣服并竖直上升,[左臂]和[右臂]抓取衣服垂直下降,[左臂]和[右臂]向爪夹方向前下方移动使衣服靠近桌面,[左臂]和[右臂]松开使衣服落在桌面上,[左臂]向爪夹方向后上方移动至衣服另一肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服另一角的肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向后上方移动至衣服下摆另一角的正上方,[左臂]保持不动,[右臂]垂直下降并抓取衣服下摆另一角,[左臂]和[右臂]抓取衣服竖直上升,[左臂]和[右臂]抓取衣服向爪夹前下方移动,[左臂]和[右臂]松开使衣服一侧向衣服中间对折,[左臂]向爪夹前方移动至衣服肩头正上方,[右臂]保持不动,[左臂]垂直下降并抓取衣服肩头,[右臂]保持不动,[左臂]保持不动,[右臂]向爪夹方向前下方移动靠近衣服右上角,[左臂]和[右臂]合拢爪夹抓取衣服,[左臂]和[右臂]抓取衣服一侧竖直上升.[左臂]和[右臂]抓取衣服一侧向爪夹方向后下方移动,[左臂]和[右臂]爪夹松开使衣服另一侧向中间对折,[左臂]向爪夹方向左上方移动,[右臂]爪夹调整爪夹位置使爪夹靠近衣服下摆,[左臂]保持不动,[右臂]合拢爪夹抓取衣服下摆,[左臂]保持不动,[右臂]抓取衣服下摆竖直上升,[左臂]保持不动,[右臂]抓取衣服下摆向爪夹方向左下方移动,[左臂]保持不动,[右臂]爪夹松开使下摆向另一侧对折,[左臂]静止不动.[右臂]远离衣服。", + "error_success_analysis": 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0000000000000000000000000000000000000000..537d9bd2d7035164e10e13e40afe3f1089f2095a --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000006.json @@ -0,0 +1,1611 @@ +{ + "task_description": "用双臂把衣服折叠成方块:\n准备开始移动：0%\n[左臂][右臂] 抓住衣服平铺在桌面上：20%\n[左臂] [右臂] 抓住衣服第一次折叠：40%\n[左臂] [右臂] 抓住衣服第二次折叠：60%\n[左臂] [右臂] 抓住衣服第三次折叠：80%\n[左臂] [右臂] 抓住衣服第四次折叠：100%\n", + "progress_points": [ + { + "action_description": "爪夹张开，未开始移动。", + "correction_plan": "左臂爪夹向爪夹的右下方移动，靠近凌乱的衣服。左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左边。\n右臂爪夹向爪夹的左下方移动，靠近凌乱的衣服。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右边。\n双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "", + "frame": 86, + 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"左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左边。\n右臂爪夹向爪夹的左下方移动，靠近凌乱的衣服。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右边。\n双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "左臂爪夹张开向爪夹的右下方移动，靠近了凌乱的衣服。", + "frame": 105, + "progress": 3, + "progress_explanation": "左臂爪夹张开向爪夹的右下方移动，靠近了凌乱的衣服。因此进度提升为3%。", + "state_description": "左臂爪夹张开向爪夹的右下方移动，靠近了凌乱的衣服。\n为完成用双臂把衣服折叠成方块的任务应当：左臂爪夹垂直向下移动，并合拢爪夹抓住衣服左边。", + "time": 3.4889497422680407, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176599575_m5z5ltbxn", + "x": 0.366375, + "y": 0.24719791666666663, + "width": 0.3490000000000001, + "height": 0.3506666666666668 + } + ] + } + } + }, + { + "action_description": "左臂爪夹垂直向下移动，并合拢爪夹。", + "correction_plan": "右臂爪夹向爪夹的左下方移动，靠近凌乱的衣服。右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右边。\n双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "左臂爪夹垂直向下移动并合拢爪夹，成功抓住衣服左边。", + "frame": 147, + "progress": 6, + 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"右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右边。\n双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "右臂爪夹张开向爪夹的左下方移动，靠近了凌乱的衣服。", + "frame": 174, + "progress": 9, + "progress_explanation": "右臂爪夹张开向爪夹的左下方移动，靠近了凌乱的衣服。因此进度提升为9%。", + "state_description": "右臂爪夹张开向爪夹的左下方移动，靠近凌乱的衣服。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹垂直向下移动，并合拢爪夹抓住衣服右边。", + "time": 5.792764175257732, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176624863_6qj06fhxd", + "x": 0.350375, + "y": 0.2458645833333333, + "width": 0.366, + "height": 0.356 + } + ] + }, + "point_1772089874073": { + "type": "point", + "instances": [ + { + "id": "point_1772089874073_1772176634846_24cw691lr", + "x": 0.645375, + "y": 0.22586458333333334 + } + ] + } + } + }, + { + "action_description": "右臂爪夹垂直向下移动，并合拢爪夹。", + "correction_plan": "双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "右臂爪夹垂直向下移动并合拢爪夹，成功抓住衣服右边。", + "frame": 198, + "progress": 12, + "progress_explanation": "右臂爪夹垂直向下移动并合拢爪夹，成功抓住衣服右边。因此进度提升为12%。", + "state_description": "右臂爪夹垂直向下移动并合拢爪夹，成功抓住衣服右边。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。", + "time": 6.590238402061856, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176643598_xtxlhzhpi", + "x": 0.348375, + "y": 0.24319791666666662, + "width": 0.37200000000000005, + "height": 0.35466666666666674 + } + ] + }, + "point_1772089874073": { + "type": "point", + "instances": [ + { + "id": "point_1772089874073_1772176652606_78i4cgfvp", + "x": 0.645375, + "y": 0.30053124999999997 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹上方抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。方便折叠衣服。", + "frame": 238, + "progress": 15, + "progress_explanation": "双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。方便折叠衣服，因此进度提升为15%。", + "state_description": "双臂爪夹抓紧衣服向上抬起，同时左臂爪夹向爪夹左边移动，右臂爪夹向爪夹右边移动，拉开衣服。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。", + "time": 7.919362113402062, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176668471_p0pvak39x", + "x": 0.010375, + "y": 0.00053125, + "width": 0.9349999999999999, + "height": 0.47200000000000003 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹后方移动，同时向上移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。", + "frame": 299, + "progress": 17, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。因此进度提升为17%。", + "state_description": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹下方移动，将衣服铺在桌面上。", + "time": 9.957351804123713, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176680717_8v4u8jm3o", + "x": 0.012375, + "y": 0.00053125, + "width": 0.9850000000000001, + "height": 0.45333333333333337 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时向爪夹下方移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹下方移动，同时向爪夹前方移动将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。为摊开衣服做准备。", + "frame": 376, + "progress": 18, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。为摊开衣服做准备，因此进度提升为18%。", + "state_description": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹向爪夹前方移动将衣服摊在桌面上。", + "time": 12.526990979381445, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176691941_uer79yvca", + "x": 0.0063750000000000005, + "y": 0.0018645833333333333, + "width": 0.9889999999999999, + "height": 0.7973333333333333 + } + ] + } + } + }, + { + "action_description": "双臂爪夹继续向爪夹下方移动，同时向爪夹前方移动。", + "correction_plan": "双臂需重新摊开衣服，双臂爪夹同时松开衣服，左臂爪夹向爪夹左上方移动远离衣服，简单调整后向爪夹右下方的衣角靠近，靠近衣角后，左臂爪夹合拢抓住衣角。\n此时右臂爪夹垂直升高后向爪夹左后方的衣袖移动，靠近衣袖后右臂爪夹合拢抓取衣袖。\n双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹下方移动，同时向爪夹前方移动将衣服铺在桌面上。衣服未完全平铺开。", + "frame": 416, + "progress": 19, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹下方移动，同时向爪夹前方移动将衣服铺在桌面上。衣服未完全平铺开。因此进度为19%。", + "state_description": "双臂爪夹抓紧衣服向爪夹下方移动，同时向爪夹前方移动将衣服铺在桌面上。衣服未完全平铺开。\n为完成用双臂把衣服折叠成方块的任务应当：双臂需重新摊开衣服，双臂爪夹同时松开衣服，左臂爪夹向爪夹左上方移动远离衣服，简单调整后向爪夹右下方的衣角靠近，靠近衣角后，左臂爪夹合拢抓住衣角。", + "time": 13.85611469072165, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176699181_q0qzaqqzs", + "x": 0.027375, + "y": 0.10453125, + "width": 0.675, + "height": 0.544 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时松开，左臂爪夹先向爪夹左上方移动，后向爪夹右下方移动。", + "correction_plan": "左臂爪夹合拢抓住衣角。此时右臂爪夹垂直升高后向爪夹左后方的衣袖移动，靠近衣袖后右臂爪夹合拢抓取衣袖。\n双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹需重新摊开衣服，左臂爪夹重新靠近衣服。", + "frame": 464, + "progress": 3, + "progress_explanation": "双臂爪夹需重新摊开衣服，左臂爪夹重新靠近衣服，因此进度降低为3%。", + "state_description": "双臂爪夹同时松开衣服，左臂爪夹向爪夹左上方移动远离衣服，简单调整后向爪夹右下方的衣角靠近。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹同时松开衣服，左臂爪夹向爪夹左上方移动远离衣服，简单调整后向爪夹右下方的衣角靠近。", + "time": 15.451063144329897, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176710604_6w7ufvogd", + "x": 0.077375, + "y": 0.08853124999999999, + "width": 0.619, + "height": 0.5693333333333334 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢。", + "correction_plan": "右臂爪夹垂直升高后向爪夹左后方的衣袖移动，靠近衣袖后右臂爪夹合拢抓取衣袖。\n双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "左臂爪夹合拢，成功抓住衣服左上方衣角。", + "frame": 490, + "progress": 6, + "progress_explanation": "左臂爪夹合拢，成功抓住衣服左上方衣角。因此进度提升为6%。", + "state_description": "左臂爪夹合拢，成功抓住衣服左上方衣角。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹垂直升高后向爪夹左后方的衣袖移动，靠近衣袖。", + "time": 16.3371456185567, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176721692_snl6pmij4", + "x": 0.116375, + "y": 0.11519791666666666, + "width": 0.5950000000000001, + "height": 0.5359999999999999 + } + ] + } + } + }, + { + "action_description": "右臂爪夹垂直升高后向爪夹左后方移动。", + "correction_plan": "右臂爪夹合拢抓取衣袖。\n双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹张开垂直升高后向爪夹左后方的衣袖移动，靠近了衣袖。", + "frame": 1072, + "progress": 9, + "progress_explanation": "右臂爪夹张开垂直升高后向爪夹左后方的衣袖移动，靠近了衣袖。因此进度提升为9%。", + "state_description": "右臂爪夹张开垂直升高后向爪夹左后方的衣袖移动，靠近了衣袖。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹合拢抓取衣袖。", + "time": 17.866666666666667, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176734220_ix9pm659s", + "x": 0.131375, + "y": 0.14053125, + "width": 0.5349999999999999, + "height": 0.49333333333333335 + } + ] + } + } + }, + { + "action_description": "右臂爪夹合拢。", + "correction_plan": "双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹合拢，成功抓住了衣袖。", + "frame": 1132, + "progress": 12, + "progress_explanation": "右臂爪夹合拢，成功抓住了衣袖。因此进度提升为12%。", + "state_description": "右臂爪夹合拢，成功抓住了衣袖。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。", + "time": 18.866666666666667, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176746364_liwudjtj7", + "x": 0.113375, + "y": 0.11653125, + "width": 0.6129999999999999, + "height": 0.5146666666666667 + } + ] + } + } + }, + { + "action_description": "双臂爪夹垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面，接着双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。", + "frame": 1210, + "progress": 15, + "progress_explanation": "双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。因此进度提升为15%。", + "state_description": "双臂爪夹抓紧衣服垂直升高后左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。", + "time": 20.166666666666668, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176762004_yctqrvbq8", + "x": 0.113375, + "y": 0.005864583333333334, + "width": 0.647, + "height": 0.48533333333333334 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹后方移动，同时向上移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。", + "frame": 652, + "progress": 17, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。因此进度提升为17%。", + "state_description": "双臂爪夹抓紧衣服向爪夹后方移动，同时向上移动拎起衣服离开桌面。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹下方移动，使衣服下方落在桌面下方。", + "time": 21.742248711340206, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176772238_nez8gqfz3", + "x": 0.001375, + "y": 0.0031979166666666653, + "width": 0.22600000000000003, + "height": 0.4173333333333334 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹下方移动。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。", + "frame": 708, + "progress": 18, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。因此进度提升为18%。", + "state_description": "双臂爪夹抓紧衣服向爪夹下方移动，将衣服下侧放置在桌面下方。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动将衣服摊在桌面上。", + "time": 23.603021907216498, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176786466_2bzsqsv2u", + "x": 0.000375, + "y": -0.0008020833333333334, + "width": 0.976, + "height": 0.9133333333333333 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹下方移动，并向爪夹前方移动。", + "correction_plan": "双臂爪夹需重新摊开衣服。双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动远离衣服，后向爪夹右下方的衣肩靠近，靠近衣肩后，左臂爪夹合拢抓住衣肩。\n右臂爪夹顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近，靠近衣肩后，右臂爪夹合拢抓住衣肩。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n接着双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动，将衣服铺在桌面上。衣服未完全铺开。", + "frame": 759, + "progress": 19, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动，将衣服铺在桌面上。衣服未完全铺开。因此进度提升为19%。", + "state_description": "双臂爪夹抓紧衣服向爪夹下方移动，并向爪夹前方移动，将衣服铺在桌面上。衣服未完全铺开。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹需重新摊开衣服。双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动远离衣服，后向爪夹右下方的衣肩靠近。", + "time": 25.286578608247424, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176794938_d6u9de8af", + "x": 0.061375, + "y": 0.008531249999999999, + "width": 0.593, + "height": 0.672 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动后向爪夹右下方移动。", + "correction_plan": "左臂爪夹合拢抓住衣肩。\n右臂爪夹顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近，靠近衣肩后，右臂爪夹合拢抓住衣肩。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n接着双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动远离衣服，后向爪夹右下方移动，靠近了衣肩。", + "frame": 809, + "progress": 3, + "progress_explanation": "双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动远离衣服，后向爪夹右下方移动，靠近了衣肩。因此进度提升为3%。", + "state_description": "双臂爪夹同时松开衣服，左臂爪夹先向爪夹左上方移动远离衣服，后向爪夹右下方移动，靠近了衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：左臂爪夹合拢抓住衣肩。", + "time": 26.97013530927835, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176804490_493k6c203", + "x": 0.066375, + "y": 0.019197916666666672, + "width": 0.5850000000000001, + "height": 0.6653333333333332 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢。", + "correction_plan": "右臂爪夹顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近，靠近衣肩后，右臂爪夹合拢抓住衣肩。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n接着双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "左臂爪夹合拢，成功抓住衣肩。", + "frame": 836, + "progress": 6, + "progress_explanation": "左臂爪夹合拢，成功抓住衣肩。因此进度提升为6%。", + "state_description": "左臂爪夹合拢，成功抓住衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近。", + "time": 27.856217783505162, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176818188_c8e02jqj4", + "x": 0.103375, + "y": 0.019197916666666665, + "width": 0.549, + "height": 0.5733333333333334 + } + ] + } + } + }, + { + "action_description": "右臂爪夹顺时针旋转，调整角度后向爪夹左下方移动。", + "correction_plan": "右臂爪夹合拢抓住衣肩。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n接着双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹张开顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近。", + "frame": 865, + "progress": 9, + "progress_explanation": "右臂爪夹张开顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近。因此进度提升为9%。", + "state_description": "右臂爪夹张开顺时针旋转，调整角度后向爪夹左下方移动，向另一边衣肩靠近。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹合拢抓住衣肩。\n", + "time": 28.830908505154643, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176836705_bfuh1fvc5", + "x": 0.109375, + "y": 0.024531250000000004, + "width": 0.541, + "height": 0.628 + } + ] + } + } + }, + { + "action_description": "右臂爪夹合拢。", + "correction_plan": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n接着双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹合拢，成功抓住衣肩。", + "frame": 887, + "progress": 12, + "progress_explanation": "右臂爪夹合拢，成功抓住衣肩。因此进度提升为12%。", + "state_description": "右臂爪夹合拢，成功抓住衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。", + "time": 29.566799, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176852720_qfvg4p1un", + "x": 0.108375, + "y": 0.044531249999999994, + "width": 0.584, + "height": 0.5493333333333333 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动。", + "correction_plan": "双臂爪夹垂直下移，使衣摆落在桌面上，然后双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。", + "frame": 1922, + "progress": 15, + "progress_explanation": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。因此进度提升为15%。", + "state_description": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左前方移动，右臂爪夹向爪夹右后方移动，使衣服完全展开。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹垂直下移，使衣摆落在桌面上。", + "time": 32.03333333333333, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176970766_npqle3xud", + "x": 0.0063750000000000005, + "y": 0.0018645833333333333, + "width": 0.99, + "height": 0.6 + } + ] + } + } + }, + { + "action_description": "双臂爪夹垂直下移。", + "correction_plan": "双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服垂直下移，使衣摆落在桌面上。准备把衣服平摊在桌面上。", + "frame": 1024, + "progress": 18, + "progress_explanation": "双臂爪夹抓紧衣服垂直下移，使衣摆落在桌面上。准备把衣服平摊在桌面上。因此进度提升为18%。", + "state_description": "双臂爪夹抓紧衣服垂直下移，使衣摆落在桌面上。准备把衣服平摊在桌面上。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。", + "time": 34.14740335051546, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176985485_50fw00syb", + "x": 0.002375, + "y": -0.0008020833333333334, + "width": 0.9950000000000001, + "height": 0.8093333333333333 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹前方移动，同时向下移动。", + "correction_plan": "双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动，靠近衣肩后合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。", + "frame": 1075, + "progress": 20, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服平铺在桌面上。因此进度提升为20%。", + "state_description": "双臂爪夹抓紧衣服向爪夹前方移动，同时向下移动，将衣服铺在桌面上。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方衣肩移动。", + "time": 35.83096005154639, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772176997709_1g2fsr7e6", + "x": 0.035375000000000004, + "y": 0.00053125, + "width": 0.849, + "height": 0.7733333333333333 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方移动。", + "correction_plan": "左臂爪夹合拢抓住衣肩。\n右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方移动，靠近衣肩。", + "frame": 1120, + "progress": 23, + "progress_explanation": "双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方移动，靠近衣肩。因此进度提升为23%。", + "state_description": "双臂爪夹同时松开爪夹，接着左臂爪夹先向爪夹后上方移动，再向爪夹右下方移动，靠近衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：左臂爪夹合拢抓住衣肩。", + "time": 37.33730025773196, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177020262_dg6xnjv63", + "x": 0.050375, + "y": 0.031197916666666665, + "width": 0.7949999999999999, + "height": 0.7413333333333333 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢。", + "correction_plan": "右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆后，右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "左臂爪夹合拢，成功抓住衣肩。", + "frame": 1144, + "progress": 26, + "progress_explanation": "左臂爪夹合拢，成功抓住衣肩。因此进度提升为26%。", + "state_description": "左臂爪夹合拢，成功抓住衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹垂直升高后向爪夹左下方移动，靠近左下方的衣摆。", + "time": 38.13477448453608, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177028492_t5i0zmqqt", + "x": 0.080375, + "y": 0.03253125, + "width": 0.756, + "height": 0.748 + } + ] + } + } + }, + { + "action_description": "右臂爪夹垂直升高后向爪夹左下方移动。", + "correction_plan": "右臂爪夹合拢抓住衣摆。\n双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹垂直升高后向爪夹左下方移动，靠近了左下方的衣摆。", + "frame": 1199, + "progress": 29, + "progress_explanation": "右臂爪夹垂直升高后向爪夹左下方移动，靠近了左下方的衣摆。因此进度提升为29%。", + "state_description": "右臂爪夹垂直升高后向爪夹左下方移动，靠近了左下方的衣摆。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹合拢抓住衣摆。", + "time": 39.96675, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177037364_wpj9qpvtq", + "x": 0.078375, + "y": 0.05786458333333334, + "width": 0.758, + "height": 0.7226666666666668 + } + ] + } + } + }, + { + "action_description": "右臂爪夹合拢。", + "correction_plan": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹合拢，成功抓住衣摆。", + "frame": 1237, + "progress": 32, + "progress_explanation": "右臂爪夹合拢，成功抓住衣摆。因此进度提升为32%。", + "state_description": "右臂爪夹合拢，成功抓住衣摆。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。", + "time": 41.2360631443299, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177048294_rgz9p6d9v", + "x": 0.065375, + "y": 0.06053125, + "width": 0.789, + "height": 0.7466666666666666 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动。", + "correction_plan": "双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。接着双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。", + "frame": 1288, + "progress": 35, + "progress_explanation": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。因此进度提升为35%。", + "state_description": "双臂爪夹抓紧衣服向上移动，同时左臂爪夹向爪夹左后方移动，右臂爪夹向爪夹右前方移动，拉开衣服。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。", + "time": 42.91961984536083, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177066539_jcrq90mvz", + "x": 0.004375, + "y": 0.005864583333333334, + "width": 0.9930000000000001, + "height": 0.676 + } + ] + } + } + }, + { + "action_description": "双臂爪夹垂直升高。", + "correction_plan": "双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。", + "frame": 1322, + "progress": 37, + "progress_explanation": "双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。因此进度提升为37%。", + "state_description": "双臂爪夹抓紧衣服垂直升高，使衣服离开桌面。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹先向爪夹下方移动，将衣服一侧放在桌面上，同时向爪夹前方移动。", + "time": 44.07152706185567, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177073836_kx9d3n2aa", + "x": 0.002375, + "y": 0.00053125, + "width": 0.548, + "height": 0.43066666666666664 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹下方移动。", + "correction_plan": "双臂爪夹向爪夹前方移动，同时向爪夹下方移动。\n双臂爪夹同时松开后，向爪夹的上分抬起离开，完成第一次折叠。\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹向爪夹下方移动，将衣服一侧放在桌面上。", + "frame": 1394, + "progress": 38, + "progress_explanation": "双臂爪夹向爪夹下方移动，将衣服一侧放在桌面上。因此进度提升为38%。", + "state_description": "双臂爪夹向爪夹下方移动，将衣服一侧放在桌面上。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹向爪夹前方移动，同时向爪夹下方移动。", + "time": 46.46394974226804, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177084547_thos92oxi", + "x": 0.002375, + "y": 0.00053125, + "width": 0.9970000000000001, + "height": 0.8480000000000001 + } + ] + } + } + }, + { + "action_description": "双臂爪夹向爪夹前方移动，同时向爪夹下方移动。", + "correction_plan": "双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动，向衣服左下方衣肩处靠近，靠近后爪夹合拢抓住左下方衣肩。\n右臂爪夹垂直升高后向爪夹后下方移动，向服右下方衣角处靠近，靠近后爪夹合拢抓住右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹前方移动，同时向爪夹下方移动。当前状态衣服未折叠好。第一次折叠失败。", + "frame": 1439, + "progress": 39, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹前方移动，同时向爪夹下方移动。当前状态衣服未折叠好。第一次折叠失败。因此进度提升为39%。", + "state_description": "双臂爪夹抓紧衣服向爪夹前方移动，同时向爪夹下方移动。当前状态衣服未折叠好。第一次折叠失败。\n为完成用双臂把衣服折叠成方块的任务应当：重新折叠，双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动，向衣服左下方衣肩处靠近。", + "time": 47.97028994845361, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177097770_6lz1fnjee", + "x": 0.084375, + "y": 0.0018645833333333333, + "width": 0.8130000000000001, + "height": 0.6973333333333334 + } + ] + } + } + }, + { + "action_description": "双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动。", + "correction_plan": "左臂爪夹合拢抓住左下方衣肩。右臂爪夹垂直升高后向爪夹后下方移动，向服右下方衣角处靠近，靠近后爪夹合拢抓住右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n", + "error_success_analysis": "重新折叠，双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动，向衣服左下方衣肩处靠近。", + "frame": 1474, + "progress": 23, + "progress_explanation": "重新折叠，双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动，向衣服左下方衣肩处靠近。因此进度降低为23%。", + "state_description": "双臂爪夹同时松开后，左臂爪夹垂直升高后向爪夹后方移动，向衣服左下方衣肩处靠近。\n为完成用双臂把衣服折叠成方块的任务应当：左臂爪夹合拢抓住左下方衣肩。", + "time": 49.12219716494845, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177105146_b6o0dilu3", + "x": 0.107375, + "y": 0.008531249999999999, + "width": 0.7929999999999999, + "height": 0.6946666666666665 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢。", + "correction_plan": "右臂爪夹垂直升高后向爪夹后下方移动，向衣服右下方衣角处靠近，靠近后爪夹合拢抓住右下方衣角。\n双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "左臂爪夹合拢，成功抓住左下方衣肩。", + "frame": 1516, + "progress": 26, + "progress_explanation": "左臂爪夹合拢，成功抓住左下方衣肩。因此进度提升为26%。", + "state_description": "左臂爪夹合拢，成功抓住左下方衣肩。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹垂直升高后向爪夹后下方移动，向服右下方衣角处靠近。", + "time": 50.539929123711346, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177125570_za5fe8gtg", + "x": 0.095375, + "y": 0.0018645833333333325, + "width": 0.7899999999999999, + "height": 0.6973333333333332 + } + ] + } + } + }, + { + "action_description": "右臂爪夹垂直升高后向爪夹后下方移动。", + "correction_plan": "右臂爪夹合拢抓住右下方衣角。双臂爪夹保持合拢，向爪夹的后方移动，同时向爪夹的上方抬起。双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "右臂爪夹垂直升高后向爪夹后下方移动，靠近了衣服右下方衣角处。", + "frame": 1556, + "progress": 29, + "progress_explanation": "右臂爪夹垂直升高后向爪夹后下方移动，靠近了衣服右下方衣角处。因此进度提升为29%。", + "state_description": "右臂爪夹垂直升高后向爪夹后下方移动，靠近了衣服右下方衣角处。\n为完成用双臂把衣服折叠成方块的任务应当：右臂爪夹合拢抓住右下方衣角。", + "time": 51.86905283505155, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + 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"双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。\n双臂爪夹张开，向爪夹的上方抬起离开，完成第一次折叠。\n\n左臂爪夹向爪夹右下方移动，靠近衣服左下方衣肩后爪夹合拢抓住左下方衣肩；右臂爪夹向爪夹左下方移动，靠近衣服右下方衣角后爪夹合拢抓住右下方衣角。\n双臂爪夹抓住衣服垂直升高，将衣服下方拎起，然后向爪夹的前方移动，同时向下移动。接着双臂爪夹张开，向爪夹的上方抬起离开，完成第二次折叠。\n\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；右臂爪夹向爪夹左前方移动，向衣服右上方衣角靠近，靠近后爪夹合拢抓住右上方衣角。\n双臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服右侧第三次折叠完成，左侧需重新折叠。\n左臂爪夹向爪夹右前方移动，向衣服左上方衣肩靠近，靠近后爪夹合拢抓住左上方衣肩；\n左臂爪夹抓紧衣服先向上抬起同时向爪夹后方移动，然后向爪夹下方移动，衣服左侧第三次折叠完成。\n双臂爪夹同时松开，左臂爪夹向爪夹的上方抬起离开，完成第三次折叠。\n\n右臂爪夹向右下方顺时针旋转，调整角度后向爪夹左侧移动，靠近衣摆后合拢爪夹抓住衣摆；\n接着右臂爪夹抓紧衣服垂直升高后先向爪夹左侧移动，到达衣领处，爪夹向下移动。\n右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。", + "error_success_analysis": "双臂爪夹抓紧衣服向爪夹的后方移动，同时向爪夹的上方抬起。拎起衣服，准备折叠。", + "frame": 1641, + "progress": 35, + "progress_explanation": "双臂爪夹抓紧衣服向爪夹的后方移动，同时向爪夹的上方抬起。拎起衣服，准备折叠。因此进度提升为35%。", + "state_description": "双臂爪夹抓紧衣服向爪夹的后方移动，同时向爪夹的上方抬起。拎起衣服，准备折叠。\n为完成用双臂把衣服折叠成方块的任务应当：双臂爪夹抓住衣服，向爪夹的前方移动，同时向爪夹的下方移动。", + "time": 54.70451675257732, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + 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0.20886458333333333, + "width": 0.37899999999999995, + "height": 0.39466666666666667 + } + ] + } + } + }, + { + "action_description": "右臂爪夹松开垂直升高后向爪夹右边移动。", + "correction_plan": "", + "error_success_analysis": "右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。任务完成。", + "frame": 2484, + "progress": 100, + "progress_explanation": "右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。任务完成，因此进度提升为100%。", + "state_description": "右臂爪夹松开垂直升高后向爪夹右边移动，离开衣服，完成第四次折叠。\n用双臂把衣服折叠成方块的任务完成。", + "time": 82.79333118556701, + "annotations": { + "bbox_1772089839529": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772089839529_1772177615069_epgczjxa9", + "x": 0.215375, + "y": 0.2928645833333334, + "width": 0.44700000000000006, + "height": 0.3093333333333333 + } + ] + } + } + } + ], + "tags": [], + "bbox_targets": [ + { + "color": "#4CAF50", + "id": "bbox_1772089839529", + "name": "衣服" + } + ], + "point_targets": [ + { + "color": "#2196F3", + "id": "point_1772089843684", + "name": "左臂爪夹左" + }, + { + "color": "#F44336", + "id": "point_1772089850412", + "name": "左臂爪夹右" + }, + { + "color": "#4CAF50", + "id": "point_1772089874073", + "name": "右臂爪夹左" + }, + { + "color": "#FF9800", + "id": "point_1772089881290", + "name": "右臂爪夹右" + } + ] +} \ No newline at end of file diff --git a/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000007.json b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000007.json new file mode 100644 index 0000000000000000000000000000000000000000..7ecb689516ea19b0b8ca1bfaad9fa9878fdd0e5f --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000007.json @@ -0,0 +1,657 @@ +{ + "task_description": "双臂爪夹夹取衣服并折叠。\n准备开始移动：0%\n双臂爪夹夹取衣服：20%\n双臂爪夹平铺衣服：40%\n双臂爪夹第一次折叠衣服：60%\n双臂爪夹第二次折叠衣服：80%\n双臂爪夹第三次折叠衣服：100%", + "progress_points": [ + { + "time": 1.949266, + "frame": 58, + "progress": 0, + "action_description": "爪夹位于屏幕外，未开始移动。", + "state_description": "爪夹处于初始状态，未开始移动，爪夹处于屏幕外。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向右下移动。", + "progress_explanation": "爪夹未开始移动，处于初始状态，因此进度未0%。", + "error_success_analysis": "", + "correction_plan": "左臂爪夹向下移动，接近衣服，右臂爪夹向左下方移动，接近衣服，双臂爪夹合拢夹取衣服，左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 3.480833, + "frame": 104, + "progress": 5, + "action_description": "左臂爪夹向下移动。", + "state_description": "左臂爪夹张开，向下移动接近衣服，右臂爪夹处于屏幕外。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹合拢。", + "progress_explanation": "左臂爪夹向下移动，接近衣服，方便夹取，因此进度提升到5%。", + "error_success_analysis": "左臂爪夹向下移动，接近衣服，方便后续夹取。", + "correction_plan": "右臂爪夹向左下方移动，接近衣服，双臂爪夹合拢夹取衣服，左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 4.316233, + "frame": 129, + "progress": 10, + "action_description": "左臂爪夹合拢。", + "state_description": "左臂爪夹合拢，夹紧衣服，右臂爪夹未开始移动，处于屏幕外。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹向下移动。", + "progress_explanation": "左臂爪夹合拢，夹紧衣服，因此进度提升到10%。", + "error_success_analysis": "左臂爪夹向下移动，接近衣服，方便后续夹取。", + "correction_plan": "右臂爪夹向左下方移动，接近衣服，右臂爪夹合拢夹取衣服，左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 6.543966, + "frame": 196, + "progress": 15, + "action_description": "右臂爪夹向下移动。", + "state_description": "右臂爪夹张开，向下移动，接近衣服，左臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：合拢右臂爪夹。", + "progress_explanation": "右臂爪夹向下移动，接近衣服，因此进度提升到15%。", + "error_success_analysis": "左臂爪夹合拢，夹紧衣服保持不动，右臂爪夹向下移动，接近衣服。", + "correction_plan": "右臂爪夹合拢夹取衣服，左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 6.89205, + "frame": 207, + "progress": 20, + "action_description": "右臂爪夹合拢。", + "state_description": "左臂爪夹保持不动，右臂爪夹合拢，夹紧衣服。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向左上方移动，右臂爪夹向右上方移动。", + "progress_explanation": "右臂爪夹合拢，双臂爪夹成功夹紧衣服，因此进度提升到20%。", + "error_success_analysis": "双臂爪夹接近衣服，合拢爪夹成功夹取衣服。", + "correction_plan": "左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 8.702083, + "frame": 261, + "progress": 25, + "action_description": "左臂爪夹向左上方移动，右臂爪夹向右上方移动。\n", + "state_description": "左臂爪夹向左上方移动，右臂爪夹向右上方移动\n为了完成爪夹夹取衣服并折叠的任务目标应当：双臂爪夹向下移动。", + "progress_explanation": "左臂爪夹向左上方移动，右臂爪夹向右上方移动，拉开衣服，因此进度提升到25%。", + "error_success_analysis": "双臂爪夹夹紧衣服，向两个方向移动，拉开衣服，方便平铺衣服。", + "correction_plan": "双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 9.6071, + "frame": 288, + "progress": 10, + "action_description": "左臂爪夹张开。", + "state_description": "左臂爪夹张开，衣服落到桌面上，未完全拉开衣服。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向右下方移动。", + "progress_explanation": "左臂爪夹张开，衣服落到桌面上，因此进度降低到10%。", + "error_success_analysis": "左臂爪夹未夹紧衣服，衣服落到桌面上。", + "correction_plan": "左臂爪夹向下移动，合拢爪夹夹紧衣服，左臂爪夹向上移动，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 11.556366, + "frame": 347, + "progress": 15, + "action_description": "左臂爪夹向右下移动。", + "state_description": "左臂爪夹张开，向右下方移动，接近衣服，右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：合拢左臂爪夹。", + "progress_explanation": "左臂爪夹向右下方移动，接近衣服，因此进度提升到15%。", + "error_success_analysis": "左臂爪夹向下移动，接近衣服，方便合拢夹紧衣服。", + "correction_plan": "合拢爪夹夹紧衣服，左臂爪夹向上移动，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 12.1133, + "frame": 363, + "progress": 20, + "action_description": "左臂爪夹合拢。", + "state_description": "左臂爪夹合拢夹紧衣服，，右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向左上方移动。", + "progress_explanation": "左臂爪夹合拢夹紧衣服，因此进度提升到20%。", + "error_success_analysis": "左臂爪夹合拢，夹紧衣服，方便拉伸衣服。", + "correction_plan": "左臂爪夹向上移动，双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 14.82835, + "frame": 445, + "progress": 22, + "action_description": "左臂爪夹向上移动。", + "state_description": "左臂爪夹合拢夹紧衣服，向左上方移动，衣服被拉开。\n为了完成爪夹夹取衣服并折叠的任务目标应当：双臂爪夹向下移动。", + "progress_explanation": "左臂爪夹向上移动，拉伸衣服，因此进度提升到22%。", + "error_success_analysis": "左臂爪夹向上移动，衣服被拉伸，方便后续平铺衣服。", + "correction_plan": "双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 17.33455, + "frame": 520, + "progress": 26, + "action_description": "双臂爪夹向上移动。", + "state_description": "双臂爪夹向上移动，衣服被拉开。\n为了完成爪夹夹取衣服并折叠的任务目标应当：双臂爪夹向下移动。", + "progress_explanation": "双臂爪夹向上移动，因此进度提升到26%。", + "error_success_analysis": "双臂爪夹向上移动，方便后续放置衣服。", + "correction_plan": "双臂爪夹向下移动，松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 19.492666, + "frame": 585, + "progress": 30, + "action_description": "双臂爪夹向下移动。", + "state_description": "双臂爪夹合拢夹紧衣服，向下移动，放置衣服到桌面。\n为了完成爪夹夹取衣服并折叠的任务目标应当：松开爪夹。", + "progress_explanation": "双臂爪夹向下移动，衣服放置到桌面，因此进度提升到30%。", + "error_success_analysis": "双臂爪夹合拢夹紧衣服，向下移动，放置衣服到桌面，方便后续调整。", + "correction_plan": "松开爪夹放置衣服，左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 20.119216, + "frame": 604, + "progress": 32, + "action_description": "双臂爪夹张开。", + "state_description": "双臂爪夹张开，放置衣服，衣服未完全平铺到桌面上。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向右后方移动。", + "progress_explanation": "双臂爪夹张开，衣服被放置到桌面上，因此进度提升到32%。", + "error_success_analysis": "双臂爪夹张开，衣服被放置到桌面上。", + "correction_plan": "左臂爪夹向右后方移动，合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 21.3027, + "frame": 639, + "progress": 33, + "action_description": "左臂爪夹向右后方移动。", + "state_description": "左臂爪夹张开，左臂爪夹向右后方移动，右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：合拢左臂爪夹。", + "progress_explanation": "左臂爪夹向右后方移动，接近衣服，因此进度提升到33%。", + "error_success_analysis": "左臂爪夹向右后方移动，方便后续夹紧衣服。", + "correction_plan": "合拢夹紧衣袖，右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 21.998866, + "frame": 660, + "progress": 34, + "action_description": "左臂爪夹合拢。", + "state_description": "左臂爪夹合拢夹紧衣服，右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹向下移动。", + "progress_explanation": "左臂爪夹合拢，夹紧衣服，因此进度提升到34%。", + "error_success_analysis": "左臂爪夹合拢，夹紧衣服，方便后续调整衣服。", + "correction_plan": "右臂爪夹向下移动，合拢爪夹夹紧衣摆，双臂爪夹向上移动，双臂爪夹向下移动，平铺衣服，松开爪夹，左臂爪夹向后移动，合拢爪夹夹紧衣袖，右臂爪夹向后移动，合拢爪夹夹紧衣摆，爪夹向上移动，爪夹向前移动，爪夹向下移动，反转衣服，左臂爪夹向后移动，爪夹合拢夹紧衣袖，右臂爪夹向后移动，合拢夹紧衣摆，双臂爪夹向上移动，双臂爪夹向前移动，折叠衣服，松开爪夹，左臂爪夹向前移动，合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 22.903883, + "frame": 687, + "progress": 35, + "action_description": "右臂爪夹向右移动。", + "state_description": "右臂爪夹张开，右臂爪夹向右移动接近衣服，左臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：合拢右臂爪夹。", + "progress_explanation": "右臂爪夹向右移动，接近衣服，因此进度提升到35%。", + "error_success_analysis": "右臂爪夹张开，向右移动，接近衣服，方便后续夹取。", + "correction_plan": 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"爪夹左臂向前移动，方便合拢夹取。", + "correction_plan": "合拢爪夹夹紧衣袖，右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 54.997166, + "frame": 1650, + "progress": 60, + "action_description": "左臂爪夹向上移动。", + "state_description": "左臂爪夹张开，左臂爪夹向上移动，右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：左臂爪夹向下移动，接近衣服。", + "progress_explanation": "左臂爪夹向上移动，远离衣服，因此进度降低到60%。", + "error_success_analysis": "左臂爪夹未合拢，向上移动，远离衣服。", + "correction_plan": "右臂爪夹向前移动，合拢爪夹夹紧衣摆，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 56.319883, + "frame": 1690, + "progress": 65, + "action_description": "左臂爪夹向下移动，合拢抓夹。", + "state_description": "右臂爪夹向下移动，合拢抓夹夹紧衣服。右臂爪夹保持不动。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹向前移动。", + "progress_explanation": "左臂爪夹合拢夹紧衣服，因此进度提升到65%。", + "error_success_analysis": "左臂爪夹向前移动，合拢夹紧衣服，方便折叠。", + "correction_plan": "右臂爪夹向前下移动，合拢爪夹夹紧衣袖，双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 58.338766, + "frame": 1750, + "progress": 70, + "action_description": "右臂爪夹向前下移动，合拢抓夹。", + "state_description": "右臂爪夹向前下方移动，合拢抓夹夹紧衣服，左臂爪夹保持不变。\n为了完成爪夹夹取衣服并折叠的任务目标应当：双臂爪夹向后移动。", + "progress_explanation": "右臂爪夹向前下方移动，合拢爪夹，因此进度提升到70%。", + "error_success_analysis": "右臂爪夹夹紧衣服，方便折叠。", + "correction_plan": "双臂爪夹向后移动，第二次折叠衣服，右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 60.636116, + "frame": 1819, + "progress": 80, + "action_description": "双臂爪夹向后移动。", + "state_description": "双臂爪夹合拢夹紧衣服，向后移动，折叠衣服。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹调整角度，合拢爪夹夹紧衣服。", + "progress_explanation": "双臂爪夹向后移动，折叠衣服，因此进度提升到80%。", + "error_success_analysis": "双臂爪夹合拢夹紧衣服，向后移动成功折叠衣服。", + "correction_plan": "右臂爪夹调整角度，合拢爪夹夹紧衣服，右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 62.376533, + "frame": 1871, + "progress": 85, + "action_description": "右臂爪夹调整角度，合拢抓夹。", + "state_description": "右臂爪夹张开，调整角度，合拢抓夹夹紧衣服。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹向左移动，折叠衣服。", + "progress_explanation": "右臂爪夹调整角度夹紧衣服，因此进度提升到85%。", + "error_success_analysis": "右臂爪夹调整角度，方便夹取衣服。", + "correction_plan": "右臂爪夹向左移动，第三次折叠衣服，松开爪夹。" + }, + { + "time": 63.351166, + "frame": 1901, + "progress": 90, + "action_description": "右臂爪夹向上移动。", + "state_description": "右臂爪夹合拢夹紧衣服，向上移动，左臂爪夹位于屏幕外。\n为了完成爪夹夹取衣服并折叠的任务目标应当：右臂爪夹向左下移动。", + "progress_explanation": "右臂爪夹向上移动，因此进度提升到90%。", + "error_success_analysis": "右臂爪夹合拢夹紧衣服，方便折叠。", + "correction_plan": "右臂爪夹向左下移动，第三次折叠衣服，松开右臂爪夹。" + }, + { + "time": 64.952349, + "frame": 1949, + "progress": 95, + "action_description": "右臂爪夹向左下移动，松开爪夹。", + "state_description": "右臂爪夹向左下移动，松开爪夹，折叠衣服。\n为了完成爪夹夹取衣服并折叠的任务目标应当：移开爪夹。", + "progress_explanation": "右臂爪夹向左下移动，松开爪夹，因此进度提升到95%。", + "error_success_analysis": "右臂爪夹向左下方移动，松开爪夹，成功折叠衣服。", + "correction_plan": "移开右臂爪夹。" + }, + { + "time": 69.616667, + "frame": 2089, + "progress": 100, + "action_description": "右臂爪夹向后一开。", + "state_description": "右臂爪夹向后移动，衣服被折叠完成。\n双臂爪夹夹取衣服折叠的任务目标完成。", + "progress_explanation": "右臂爪夹移开，因此进度提升到100%。", + "error_success_analysis": "右臂爪夹移开，衣服被折叠完成。", + "correction_plan": "", + "annotations": { + 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b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000008.json new file mode 100644 index 0000000000000000000000000000000000000000..193ecaf02a11bd6f22e737affeeabd8f40bfe95d --- /dev/null +++ b/annotation_files_raw/dataset_ver/mask_v4_0203/project-1/ARX-data/shared_2arms_arx/dex_fold_v2_mix/annotations/chunk-000/observation.images.head/episode_000008.json @@ -0,0 +1,1087 @@ +{ + "task_description": "用双臂抓起衣服使其折叠:\n准备开始移动：0%\n[左臂] 抓住衣服，[右臂] 靠近衣服：10%\n[左臂][右臂] 抓住衣服：20%\n[左臂] [右臂] 抓住衣服平铺：30%\n[左臂] 抓住衣服左下角，[右臂] 抓住衣服右下角：50%\n[左臂] [右臂] 抓住衣服第一次折叠：60%\n[左臂] 抓住衣服左上角，[右臂] 抓住衣服右上角：70%\n[左臂] [右臂] 抓住衣服第二次折叠：80%\n[左臂] 离开衣服，[右臂] 抓住衣服右侧：90%\n[右臂] 抓住衣服右侧第三次折叠，后离开衣服：100%\n", + "progress_points": [ + { + "action_description": "左臂爪夹保持打开状态，准备开始移动。\n", + "annotations": { + "bbox_1772072238627": { + "instances": [ + { + "height": 0.33999999999999997, + "id": "bbox_1772072238627_1772087346236_oh23lsn9f", + "width": 0.3390000000000001, + "x": 0.398375, + "y": 0.21886458333333333 + } + ], + "type": "bbox" + } + }, + "correction_plan": "左臂爪夹向爪夹方向的右前方移动，到达衣服的正上方，后下降，抓取衣服，右臂爪夹向爪夹方向的左前方移动，到达衣服的正上方，后下降，抓取衣服。左右两臂爪夹抓取衣服后上升，向爪夹方向的前方移动，将衣服平铺再桌子上。左臂爪夹向爪夹方向的后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。左臂爪夹离开衣服，右臂爪夹抓住衣服右侧上升向爪夹方向的左侧移动，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。\n", + "error_success_analysis": "", + "frame": 81, + "progress": 0, + "progress_explanation": "目前左臂爪夹处于初抬状态，尚未移动，进度为0%。\n", + "state_description": "当前状态为左臂爪夹张开，没有移动，没有触碰衣服。\n为完成用双臂抓起衣服使其折叠的任务应当:左臂爪夹向爪夹方向的右前方移动，准备抓取衣服。\n", + "time": 2.6951653617268043 + }, + { + "action_description": "左臂爪夹向爪夹方向的右前方略微移动并下降。\n", + "annotations": { + "bbox_1772072238627": { + "instances": [ + { + "height": 0.3253333333333333, + "id": "bbox_1772072238627_1772087338955_lggqcq0kj", + "width": 0.37499999999999994, + "x": 0.364375, + "y": 0.23353125 + } + ], + "type": "bbox" + } + }, + "correction_plan": "左臂爪夹合拢，抓取衣服，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方，后下降，抓取衣服。左右两臂爪夹抓取衣服后上升，向爪夹方向的前方移动，将衣服平铺再桌子上。左臂爪夹向爪夹方向的后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。左臂爪夹离开衣服，右臂爪夹抓住衣服右侧上升向爪夹方向的左侧移动，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。\n", + "error_success_analysis": "左臂爪夹向爪夹方向的右前方略微移动至衣服的正上方，并下降左臂爪夹的左右两侧已接触到衣服。\n", + "frame": 129, + "progress": 7, + "progress_explanation": "当前左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服，因此进度提升至7%。\n", + "state_description": "当前状态为左臂爪夹张开，左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服。\n为完成用双臂抓起衣服使其折叠的任务应当:左臂爪夹合拢，抓取衣服，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方。\n", + "time": 4.288086314304124 + }, + { + "action_description": "左臂爪夹保持合拢不动，右臂爪夹向爪夹方向的左前方略微移动并略微下降。\n", + "annotations": { + "bbox_1772072238627": { + "instances": [ + { + "height": 0.32133333333333336, + "id": "bbox_1772072238627_1772087334393_h8qx6sx6n", + "width": 0.312, + "x": 0.40437500000000004, + "y": 0.22953125 + } + ], + "type": "bbox" + }, + "point_1772072240500": { + "instances": [ + { + "id": "point_1772072240500_1772087362578_aeobim637", + "x": 0.654375, + "y": 0.4268645833333334 + } + ], + "type": "point" + } + }, + "correction_plan": "左臂爪夹继续保持合拢不动，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方，后下降，抓取衣服。左右两臂爪夹抓取衣服后上升，向爪夹方向的前方移动，将衣服平铺再桌子上。左臂爪夹向爪夹方向的后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的左前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。左臂爪夹离开衣服，右臂爪夹抓住衣服右侧上升向爪夹方向的左侧移动，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。\n", + "error_success_analysis": "右臂爪夹向爪夹方向的左前方略微移动，右臂爪夹在水平方向上略微接近衣服。\n", + "frame": 187, + "progress": 10, + "progress_explanation": "当前左臂爪夹继续保持合拢不动，右臂爪夹在水平方向上略微接近衣服，因此进度提升至10%。\n", + "state_description": "当前状态为左臂爪夹合拢，右臂爪夹张开，左臂爪夹保持合拢不动，右臂爪夹接近衣服。\n为完成用双臂抓起衣服使其折叠的任务应当:左臂爪夹继续保持合拢不动，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方。\n", + "time": 6.222347471005154 + }, + { + "action_description": 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"当前左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服，因此进度提升至5%。\n", + "state_description": "当前状态为左臂爪夹张开，左臂爪夹位于衣服的正上方，左臂爪夹的左右两侧已接触到衣服。\n为完成用双臂抓起衣服使其折叠的任务应当:左臂爪夹合拢，抓取衣服，右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方。\n", + "time": 3.597663249484536, + "annotations": { + "bbox_1772072238627": { + "type": "bbox", + "instances": [ + { + "id": "bbox_1772072238627_1772099754911_m6uswt67m", + "x": 0.403, + "y": 0.1831111043294271, + "width": 0.253, + "height": 0.37599999999999995 + } + ] + } + } + }, + { + "action_description": "左臂爪夹合拢，抓取衣服.", + "correction_plan": "右臂爪夹向爪夹方向的左前方移动，直至衣服的正上方，后下降，抓取衣服。左右两臂爪夹抓取衣服后上升，向爪夹方向的前方移动，将衣服平铺再桌子上。左臂爪夹向爪夹方向的后方移动，直至衣服的左下角，后下降，抓取衣服左下角，右臂爪夹向爪夹方向的后方移动，直至衣服的右下角，后下降，抓取衣服右下角。左右两臂爪夹抓取衣服上升，向爪夹方向的前方移动折叠。左臂爪夹向爪夹方向的前方移动，直至衣服的左上角，后下降，抓取衣服左上角，右臂爪夹向爪夹方向的前方移动，直至衣服的右上角，后下降，抓取衣服右上角，爪夹左右两臂抓取衣服上升，向爪夹方向的后方移动折叠。左臂爪夹离开衣服，右臂爪夹抓住衣服右侧上升向爪夹方向的左侧移动，折叠衣服。右臂爪夹完成折叠，右臂爪夹离开衣服。\n", + "error_success_analysis": "左臂爪夹合拢，成功抓取衣服。", + "frame": 155, + "progress": 8, + "progress_explanation": "左臂爪夹合拢，成功抓取衣服.因此进度提升至8%。", + 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