Copy AIRBOT_MMK2_cup_storage into RoboCOIN_useable

AIRBOT_MMK2_cup_storage/.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_cup_storage/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_cup_storage
+
+## 📋 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`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 48 |
+| **Total Frames** | 12246 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 192 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 522.9MB |
+
+
+## 👥 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
+Hold the blue cup in one hand and place it on the plate, then hold the purple cup in your other hand and put it in the blue cup.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Place the blue cup on the plate with the left gripper** 
+2. **Place the purple cup on the blue cup with the right gripper** 
+3. **Abnormal** 
+4. **End** 
+5. **Grasp the purple cup with the right gripper** 
+6. **Grasp the blue cup with the left gripper** 
+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 0:47
+
+
+## 📁 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": 48, "total_frames": 12246, "total_tasks": 1, "total_videos": 192, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:47"}, "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_cup_storage_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_cup_storage/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_cup_storage/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_cup_storage/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_cup_storage/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_cup_storage/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_cup_storage/annotations/scene_annotations.jsonl

@@ -0,0 +1,50 @@
+{"scene_index": 0, "scene": "The plate is at the center, with food items placed in the front left and front right positions. The building blocks are located at the back right, while cups are positioned on the right and back left."}
+{"scene_index": 1, "scene": "Food: two are located at the back left, one at the front, and one at the back right. Plate: one is placed at the front. Cup: one is on the left, and one is at the front right. Building Blocks: one set is at the back right."}
+{"scene_index": 2, "scene": "The plate is at the center, with food items positioned in the front left, front, front right, and back right areas, building blocks located at the back, a cup placed at the back left, another cup on the right, and additional food near the front left."}
+{"scene_index": 3, "scene": "The plate is at the center, with food items positioned in the front, front-left, front-right, right, and back-right areas, while building blocks are located at the back, a cup is on the right, and another cup is placed at the back-left."}
+{"scene_index": 4, "scene": "The plate is in the front-right, with food items placed across various positions including back-right, front-right (x2), right, front-left, and left. Building blocks are located at the back-right. Two cups are positioned on both sides, one on the left and one on the right."}
+{"scene_index": 5, "scene": "The plate is at the front, and there are two foods at the back left and one food at the back right. The building blocks are at the back right, while the cups are on both sides, with one on the right and one on the left."}
+{"scene_index": 6, "scene": "The plate is in the front, the building blocks are at the back right, two foods are on the back left, one food is in the front, and two cups are centered and on the right."}
+{"scene_index": 7, "scene": "The plate is at the front, with food items positioned in various locations: two foods are at the back left, one at the back right, and three near the front (left, right, and center). Building blocks are at the back right. The cups are located on the right and left sides respectively."}
+{"scene_index": 8, "scene": "The plate is located at the front right, with food items positioned at the back right, front left, front right (two instances), front left (two instances), and right. Building blocks are placed at the back right, a cup is situated at the back left, and another cup is at the right."}
+{"scene_index": 9, "scene": "The plate is at the center, food items are positioned at front left, front, front right, and back right, cups are located at back left and right, and building blocks are placed at the back."}
+{"scene_index": 10, "scene": "The plate is at the front, with food items positioned at the back right and front left, another food item at the back right, a cup in the center, a cup on the right, and additional food items at the front right."}
+{"scene_index": 11, "scene": "The plate is at the center. The first food item is in front left, the second food item is in front, and the third food item is back right. The first cup is on the back left, and the second cup is on the right. Building blocks are at the back."}
+{"scene_index": 12, "scene": "The plate is at the front, with food positioned at the back right and back left (two items), building blocks at the back right, a cup in the center, another cup at the front right, and additional food at the front left."}
+{"scene_index": 13, "scene": "The plate is at the center. The food items are positioned around it: two on the front right, one on the front left, and three on the back right."}
+{"scene_index": 14, "scene": "The plate is at the center Food items are positioned at the front front left twice front right and right Building blocks are at the back A cup is on the right and another cup is at the back left"}
+{"scene_index": 15, "scene": "The plate is at the front, the food items are positioned at the back left (two times), back right, and front, the cups are at the center and front right, and the building blocks are at the back right."}
+{"scene_index": 16, "scene": "The plate is centered, with food placed in the front right and front left positions. Food is also located at the back right, along with building blocks. A cup is positioned at the back left and another cup is on the right side."}
+{"scene_index": 17, "scene": "The plate is at the front, with food items positioned across various locations including front left, front, front right, and both back lefts. Cups are placed on the right and left sides, while building blocks are located at the back right."}
+{"scene_index": 18, "scene": "The plate is at the front, with food items positioned on both sides (back right, back left, front left, and front), building blocks located at the back right, cups placed on the right and center."}
+{"scene_index": 19, "scene": "The plate is at the front. Food is at the back right and right, food is at the front right and front left (twice), building blocks are at the back right, cups are at the right and center."}
+{"scene_index": 20, "scene": "The plate is at the front right; food is present at the back right, front right, front left, and right; building blocks are at the back right; cups are located at the right and center."}
+{"scene_index": 21, "scene": "The plate is front right. The food back right is behind and to the right of the plate. The food front left is in front and to the left of the plate. The food front right is in front and to the right of the plate. The building blocks back right are behind and to the right of the plate. The cup left is to the left of the plate. The food right is to the right of the plate. The cup right is also to the right of the plate, alongside the food right."}
+{"scene_index": 22, "scene": "The plate is at the front, with food positioned behind it on both the left and right sides, as well as additional food in the back left and right. Building blocks are placed at the back right, while cups are located to the right and left of the scene."}
+{"scene_index": 23, "scene": "The plate is positioned at the front. A food item is located at the back right along with the building blocks. Two food items are placed at the front left. A cup is centered and another cup is on the right side. Additional food items are positioned at the front right, right, and front right again."}
+{"scene_index": 24, "scene": "The plate is centered, with food items positioned on the right, front left, front, and back right, while cups are located at the back left and right sides."}
+{"scene_index": 25, "scene": "The plate is at the front right Food is in the back right and front right (two items) front left and another food item at the front right again as well as one more food item on the right Building blocks are in the back right There are two cups one in the center and one on the right."}
+{"scene_index": 26, "scene": "The plate is at the center, with food items positioned in the front left, front, front right, and back right areas. A cup is placed on the left and another cup is located on the right side, while building blocks are situated at the back."}
+{"scene_index": 27, "scene": "The Plate is located at Center. The Food items are positioned in multiple locations including front right (with a duplicate), front left, and back right. The Building Blocks are placed at Back right. The Cup items are situated at both Back left and Back right."}
+{"scene_index": 28, "scene": "The plate is at the front right, food items are located at the back right, right, front right, front left, and another food item at front left and front right, building blocks are at the back right, cups are in the center and on the right."}
+{"scene_index": 29, "scene": "The plate is at the center. The food items are placed in the front left, front, back right, and another front left position. The cup is located at the back left and also on the right side. The blocks are positioned at the back."}
+{"scene_index": 30, "scene": "Plate is in the front, food is at back right and back left, building blocks are at back right, cup is on the right and left, food is also at front and front left."}
+{"scene_index": 31, "scene": "Plate is at center. Food items are positioned at right, front left, front, back right, and front right. Cups are located at back left and right. Building blocks are at the back."}
+{"scene_index": 32, "scene": "The plate is in the front, and there are multiple foods positioned around it including one at the front left. The building blocks are located at the back right, while two cups are placed to the right and center."}
+{"scene_index": 33, "scene": "The plate is at the center, with food items positioned in the front left, front, front right, and right areas, while building blocks are located at the back. There are two cups, one on the right and another on the back left."}
+{"scene_index": 34, "scene": "The plate is in the front, food is at the back right, right, front left, and front right, building blocks are at the back right, and the cup is at the center and right."}
+{"scene_index": 35, "scene": "Plate is at the center. Two foods are in front left and front right positions, one food is at front, another at right, and another at back right. A cup is at back left and another cup is at right. Building blocks are at the back."}
+{"scene_index": 36, "scene": "The plate is in the front. Food items are located at the back right, back left, front left, back left, and front. Building blocks are positioned at the back right. And cups are placed on both the right and left sides."}
+{"scene_index": 37, "scene": "The plate is at center, food is in front, food is in front left, food is in front right, building blocks are at back, cup is at back left, cup is at back right."}
+{"scene_index": 38, "scene": "The plate is in the front, the food items are positioned at front left, front right, back left (twice), and back right, the building blocks are at back right, the cups are located at right and center."}
+{"scene_index": 39, "scene": "The plate is located on the front right. The food is placed in the back right and front left as well as front right. The building blocks are situated in the back right. The cup is found at the back and right areas."}
+{"scene_index": 40, "scene": "Plate is in the front. Two foods are at the back right and one food is at the back left. Building blocks are at the back right. One cup is on the left and another cup is at the front right. Lastly, a food item is at the front left."}
+{"scene_index": 41, "scene": "The plate is at the center, with food items positioned in front left, front, right, front right, and back right; building blocks are located at the back; a cup is on the right side, another cup is placed at the back left."}
+{"scene_index": 42, "scene": "Plate is at the front. Food is at the back right and back left (twice), front left, and front. Building blocks are at the back right. Cups are on the right and center."}
+{"scene_index": 43, "scene": "The plate is at the front, two cups are on the left and right sides, food items are positioned in the front, front right, back left, and back right, and building blocks are located at the back right."}
+{"scene_index": 44, "scene": "A plate is centered on the table. Food items are placed at the front, front right, and front left positions. Building blocks are located at the back. A cup is positioned at the back right and another cup is at the back left."}
+{"scene_index": 45, "scene": "The plate is at the center. The food items are positioned in front, front-left, front-right, and right. Building blocks are at back-right, and cups are at back-left and right."}
+{"scene_index": 46, "scene": "The plate is at the center, with food items positioned around it including front left, front right (twice), back right, and right. Building blocks are located at the back right, while cups are placed at both the back left and back right."}
+{"scene_index": 47, "scene": "The plate is at the center, with food items positioned in front, front right, right, front left (x3), and back. The cups are on the left and right sides, while building blocks are placed at the back."}
+{"scene_index": 48, "scene": "Plate is in front; two food items are on the back right and building blocks are also on the back right. Two foods are on the back left, one food is on the front left, and cup is on the left and another cup is on the right."}
+{"scene_index": 49, "scene": "The plate is at the center, there are two foods in front—left and front-right—and one food at back-right, building blocks are at the back, cups are on the right and back-left."}

AIRBOT_MMK2_cup_storage/annotations/subtask_annotations.jsonl

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+{"subtask_index": 0, "subtask": "Place the blue cup on the plate with the left gripper"}
+{"subtask_index": 1, "subtask": "Place the purple cup on the blue cup with the right gripper"}
+{"subtask_index": 2, "subtask": "Abnormal"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Grasp the purple cup with the right gripper"}
+{"subtask_index": 5, "subtask": "Grasp the blue cup with the left gripper"}
+{"subtask_index": 6, "subtask": "null"}

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