Copy AIRBOT_MMK2_place_the_books into RoboCOIN_useable

AIRBOT_MMK2_place_the_books/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

AIRBOT_MMK2_place_the_books/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_place_the_books
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+- `push`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 49 |
+| **Total Frames** | 20564 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 196 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 1.1GB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+Push the book to one side of the table with one hand, and take it with the other hand to put it on the bookshelf.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Push the  book from right to left with the right gripper** 
+2. **Grasp the  book with the left gripper** 
+3. **Place the  book into the front mezzanine of the bookshelf with the left gripper** 
+4. **Static** 
+5. **End** 
+6. **Abnormal** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:48
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_third_view**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 49, "total_frames": 20564, "total_tasks": 1, "total_videos": 196, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:48"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_third_view": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AIRBOT_MMK2_place_the_books_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_right_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_third_view/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

AIRBOT_MMK2_place_the_books/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

AIRBOT_MMK2_place_the_books/annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

AIRBOT_MMK2_place_the_books/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

AIRBOT_MMK2_place_the_books/annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

AIRBOT_MMK2_place_the_books/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
+{"gripper_mode_index": 2, "gripper_mode": "unknown"}

AIRBOT_MMK2_place_the_books/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The stainless steel bookshelf is positioned at the front, while the book is located at the back left. Two round biscuits are placed on the right and back positions respectively."}
+{"scene_index": 1, "scene": "The stainless steel bookshelf is at the front, the book is at the back left, two round biscuits are positioned at the back right, and one biscuit is also located at the back right."}
+{"scene_index": 2, "scene": "The stainless steel bookshelf is positioned at the front, while the book is placed at the back left. The round biscuits are located at the back right, with two of them visible and one additional biscuit also positioned there."}
+{"scene_index": 3, "scene": "The stainless steel bookshelf is at the front, while the book is positioned at the back left. There are three round biscuits located on the right and back right sides."}
+{"scene_index": 4, "scene": "The book is placed back left on the stainless steel bookshelf. The front position of the stainless steel bookshelf has a book and three round biscuits placed at the back right."}
+{"scene_index": 5, "scene": "The book is positioned back left. The stainless steel bookshelf is positioned front. The round biscuit is positioned right and back right (two biscuits)."}
+{"scene_index": 6, "scene": "The Book is on the back left. The Stainless Steel Bookshelf is at the front. The Round Biscuit is on the right and back right."}
+{"scene_index": 7, "scene": "The stainless steel bookshelf is at the front, with a round biscuit on its right side; at the back left of the shelf is a book, and at the back right are two round biscuits."}
+{"scene_index": 8, "scene": "The Book is located at the back left on the shelf, the Stainless Steel Bookshelf is positioned at the front, and the Round Biscuit is situated at the back right on the shelf."}
+{"scene_index": 9, "scene": "The book is positioned at the back left. The stainless steel bookshelf is positioned at the front. The round biscuit is positioned on the right and back right (two biscuits)."}
+{"scene_index": 10, "scene": "The book is positioned at the back left, while the stainless steel bookshelf is located at the front. Two round biscuits are both placed in the back right area."}
+{"scene_index": 11, "scene": "The stainless steel bookshelf is at the front, with the book placed on its back left. Two round biscuits are positioned on the back right of the shelf, with one overlapping the other slightly."}
+{"scene_index": 12, "scene": "The stainless steel bookshelf is at the front, with the book placed on its back left. Two round biscuits are positioned on the back right of the shelf, with one overlapping the other slightly."}
+{"scene_index": 13, "scene": "The book is on the back left of the stainless steel bookshelf and the stainless steel bookshelf has front position with a book and three round biscuits placed at back right."}
+{"scene_index": 14, "scene": "The book is positioned at the back left on a stainless steel bookshelf located in front. Three round biscuits are placed together at the back right."}
+{"scene_index": 15, "scene": "The stainless steel bookshelf is at the front, with a book placed on its back left side. Two round biscuits are located at the back right and one additional round biscuit is positioned on the right."}
+{"scene_index": 16, "scene": "The book is positioned at the back left on a stainless steel bookshelf, while a round biscuit is placed to its right. A bis is located at the back right, and there s also a separate stainless steel object in front."}
+{"scene_index": 17, "scene": "The stainless steel bookshelf is at the front, a book is positioned on the back left of the shelf, and there are two round biscuits located at the back right."}
+{"scene_index": 18, "scene": "The stainless steel bookshelf is at the front, with a book placed on its back left side, while two round biscuits are positioned on the right and back right."}
+{"scene_index": 19, "scene": "The stainless steel bookshelf is at the front, the book is positioned at the back left on the shelf, there s a round biscuit located on the right side, and another smaller biscuit is placed at the back right."}
+{"scene_index": 20, "scene": "The Book is located at the back left The Stainless Steel Bookshelf is positioned at the front The Round Biscuit is situated on the right side The Biscuit is placed at the back right"}
+{"scene_index": 21, "scene": "The stainless steel bookshelf is at the front, with a book placed on its back left side. To the right of the bookshelf is a round biscuit, and there are two additional round biscuits positioned at the back right of the shelf."}
+{"scene_index": 22, "scene": "The Book is located at the back left, the Stainless Steel Bookshelf is positioned at the front, Round Biscuit 1 is placed at the right, Round Biscuit 2 is situated at the back right, and Round Biscuit 3 is found at the back right."}
+{"scene_index": 23, "scene": "The book is at the back left, a stainless steel bookshelf is in front, and both the round biscuit and biscuit are positioned at the back right."}
+{"scene_index": 24, "scene": "The stainless steel bookshelf is at the front, with a book positioned on its back left. There are two round biscuits placed on the back right side, and another round biscuit located further back on the same side as well."}
+{"scene_index": 25, "scene": "The stainless steel bookshelf is at the front, the round biscuit is on the right, and the book is located at the back-left."}
+{"scene_index": 26, "scene": "There is a book located at the back left, there is a stainless steel bookshelf placed in the front, there is a round biscuit positioned on the right side, and there is another round biscuit positioned at the back right."}
+{"scene_index": 27, "scene": "The book is at the back left, on a stainless steel bookshelf located in front, with two round biscuits placed to its right and back right."}
+{"scene_index": 28, "scene": "The stainless steel bookshelf is in the front, with a book placed at the back left. There are two round biscuits positioned at the back right and one at the right."}
+{"scene_index": 29, "scene": "The stainless steel bookshelf is at the front. The book is on the back left. A round biscuit is on the back right, another round biscuit is on the right, and a third round biscuit is also on the back right."}
+{"scene_index": 30, "scene": "The stainless steel bookshelf is at the front, while the book is located at the back left. There are three round biscuits positioned at the back right."}
+{"scene_index": 31, "scene": "The stainless steel bookshelf is at the front, the book is in the back left, and two round biscuits are on the right and back right."}
+{"scene_index": 32, "scene": "The book is placed at the back left. The stainless steel bookshelf is positioned at the front. Three round biscuits are located at the back right."}
+{"scene_index": 33, "scene": "The stainless steel bookshelf is at the front, while the book is located at the back left. There are three round biscuits positioned at the back right."}
+{"scene_index": 34, "scene": "The stainless steel bookshelf is at the front, while the book is positioned at the back left. Additionally, there are three round biscuits located on the right and two more at the back right."}
+{"scene_index": 35, "scene": "The Book is positioned at the back left on the shelf. The Stainless Steel Bookshelf is placed in the front of the display. The Round Biscuit 1 is located on the right side, towards the back. The Round Biscuit 2 is positioned at the back right corner of the shelf. The Round Biscuit 3 is also placed at the back right area of the shelf. The Round Biscuit 4 is situated at the front right section of the shelf."}
+{"scene_index": 36, "scene": "The book is located at the back left while the stainless steel bookshelf is positioned at the front The round biscuit is placed on the right and the cookie is situated at the back right."}
+{"scene_index": 37, "scene": "The stainless steel bookshelf is at the front, while the book is positioned at the back left. Additionally, there are three round biscuits located on the right and two more at the back right."}
+{"scene_index": 38, "scene": "The stainless steel bookshelf is at the front, with a round biscuit on its right, a book in the back-left corner, and another biscuit in the back-right corner."}
+{"scene_index": 39, "scene": "The book is located at the back left, and the stainless steel bookshelf is positioned at the front. Two round biscuits are placed at the right and back right positions. A biscuit is also located at the back right, alongside another round biscuit."}
+{"scene_index": 40, "scene": "The stainless steel bookshelf is at the front, while the book is positioned at the back left. On the back right side, there are three round biscuits placed together."}
+{"scene_index": 41, "scene": "The stainless steel bookshelf is at the front, the book is at the back left, and two biscuits are located at the back right."}
+{"scene_index": 42, "scene": "Book is located at back left. Round biscuit is on the right. Stainless steel bookshelf is in front. Another round biscuit is placed at back right."}
+{"scene_index": 43, "scene": "The stainless steel bookshelf is at the front, holding a book placed in its back left section. On the right side, there are two round biscuits positioned in the front and back right areas, while another smaller biscuit is located at the back right."}
+{"scene_index": 44, "scene": "The book is at the back left, a round biscuit is on the right, the stainless steel bookshelf is in front, and another biscuit is at the back right."}
+{"scene_index": 45, "scene": "The stainless steel bookshelf is at the front, holding a book placed on its back left side. Positioned to the right and in the back right corner are two round biscuits, with another round biscuit also located in the back right area."}
+{"scene_index": 46, "scene": "The book is located at the back left. The stainless steel bookshelf is positioned at the front. The first round biscuit is placed at the back right, the second round biscuit is also at the back right, and the third round biscuit is located at the right."}
+{"scene_index": 47, "scene": "The stainless steel bookshelf is at the front, while the book is placed in the back left position. On the right side, there are three round biscuits located at the back right and one round biscuit positioned at the front right."}
+{"scene_index": 48, "scene": "The round biscuit is on the right, the stainless steel bookshelf is in front, and the book is at the back left."}

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+{"subtask_index": 1, "subtask": "Grasp the  book with the left gripper"}
+{"subtask_index": 2, "subtask": "Place the  book into the front mezzanine of the bookshelf with the left gripper"}
+{"subtask_index": 3, "subtask": "Static"}
+{"subtask_index": 4, "subtask": "End"}
+{"subtask_index": 5, "subtask": "Abnormal"}
+{"subtask_index": 6, "subtask": "null"}

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