Copy AIRBOT_MMK2_play_the_guitar into RoboCOIN_useable

AIRBOT_MMK2_play_the_guitar/.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_play_the_guitar/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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_play_the_guitar
+
+## 📋 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`
+- `pull`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 48 |
+| **Total Frames** | 8574 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 192 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 360.3MB |
+
+
+## 👥 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 small guitar in your lefthand, pluck the strings with your righthand,  and then put down the small guitar with your lefthand.
+
+### Sub-Tasks
+This dataset includes 6 distinct subtasks:
+
+1. **Play ukulele with the right gripper** 
+2. **End** 
+3. **Place the ukulele on the table with the left gripper** 
+4. **Lift the ukulele with the left gripper** 
+5. **Grasp the ukulele with the left gripper** 
+6. **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": 8574, "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_play_the_guitar_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_play_the_guitar/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_play_the_guitar/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_play_the_guitar/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_play_the_guitar/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_play_the_guitar/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_play_the_guitar/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The guitar is centered. Round biscuits are at the back left. Cakes are at the front right and front. Triangle building blocks are at the back right, front left, and front right, as well as in the back. Building blocks are at the front."}
+{"scene_index": 1, "scene": "The guitar is at the center. The round biscuits are positioned at both back left and back right. The triangle building blocks are placed at front, front left, front right, back, and back right. The cakes are located at front and back right."}
+{"scene_index": 2, "scene": "The guitar is in the center. The triangle building blocks are at the back right. The round biscuits are on the front and back left, with some also at the front. The cakes are positioned at the front right, back, and also at the back right."}
+{"scene_index": 3, "scene": "The guitar is on the right, round biscuits are on the back and front, the triangle building blocks are on the back right, cakes are in front and the building blocks are on the front left."}
+{"scene_index": 4, "scene": "Guitar is in the center. Round biscuits are at the back left and back right. Triangle building blocks are at the back, front right, and also mentioned as being at the back right (likely overlapping with biscuits). Cakes are at the front, back right, and front right. Blocks are at the front."}
+{"scene_index": 5, "scene": "The guitar is at the center, with round biscuits positioned at the back left and back right, triangle building blocks placed across the back, front, and front right, and cakes located at the front right and back right."}
+{"scene_index": 6, "scene": "The guitar is in the center. The round biscuits are on the back left and back right. The triangle building blocks are at the back, front left, and front right. The cakes are on the front, front right, and back right."}
+{"scene_index": 7, "scene": "The guitar is at the center, round biscuits are on the back left and back right, triangle building blocks are spread across the back, front left, front, front right, and back right, while the cakes are positioned on the front right and back right."}
+{"scene_index": 8, "scene": "The guitar is at the center, round biscuits are in the back left, triangle building blocks are in the back right, cakes are in the front and front right, and additional blocks are in the front right."}
+{"scene_index": 9, "scene": "The Guitar is at center, The Round Biscuits are at back left and back, The Triangle Building Blocks are at back right and front left, The Cakes are at front right and front, The Blocks are at front, The Round Biscuits and Cakes are at back."}
+{"scene_index": 10, "scene": "Guitar is at the center round biscuits are at the back left triangle building blocks are at the back right and back cakes are at the front right front front left and front triangle building blocks are also at the front left and front right."}
+{"scene_index": 11, "scene": "The guitar is in the center, round biscuits are at both back left and front positions, triangle building blocks are clustered on the back right, cakes are mostly placed in the front with one at the back."}
+{"scene_index": 12, "scene": "Round Biscuits are located at Back Left, Guitar is located at Center, Triangle Building Blocks are located at Back Right and Back, Blocks are located at Front, Cakes are located at Front, and Triangle Building Blocks are also located at Front Left and Front Right."}
+{"scene_index": 13, "scene": "Guitar is in the center. Round biscuits are at the back left. Cakes are at the front right. Triangle building blocks are on the back right. Triangle building blocks are also at the back. Triangle building blocks are additionally at the front left. Cakes are placed at the front and back right. Blocks are located at the front, front right, and front left."}
+{"scene_index": 14, "scene": "The guitar is on the right, round biscuits are on the back left and front, the triangle building blocks are on the back right, and the cakes are on the front and back."}
+{"scene_index": 15, "scene": "The guitar is at the center. The round biscuits are positioned at the back left. The triangle building blocks are located at both the back right and front right. The cakes are placed in the front."}
+{"scene_index": 16, "scene": "Guitar at Center, Round Biscuits at Back Left, Triangle Building Blocks at Back Right, and Cakes at Front Right, Back Right, and Front."}
+{"scene_index": 17, "scene": "The guitar is centered, with round biscuits at the back left and back right. Triangle building blocks are positioned back right, front left, and front right. Cakes are placed in the front and front right. Building blocks are at the front and center, and triangle building blocks are also at the front left."}
+{"scene_index": 18, "scene": "The guitar is at the center, with round biscuits in the back left and triangle building blocks in the back right. Cakes are positioned at the front, front right, and back right, while blocks are located at the front right."}
+{"scene_index": 19, "scene": "The guitar is at the center, with round biscuits positioned at the back left and back right. Triangle building blocks are scattered across all four corners (front left, front right, back left, back right), while cakes are placed in the front and front right."}
+{"scene_index": 20, "scene": "Guitar is in the center. Round biscuits are at back left and back right. Triangle building blocks are at front left, front right, and back. Cakes are at front, front right, and front left. Building blocks are also at front."}
+{"scene_index": 21, "scene": "The guitar is at the center, round biscuits are at the back left and also on the back right along with the triangle building blocks, while cakes are at the front and front right."}
+{"scene_index": 22, "scene": "The guitar is at center. The round biscuits are at back left and back right. The triangle building blocks are at back. The cakes are at front right, front, and back right. The blocks are at front. The building blocks are at front right."}
+{"scene_index": 23, "scene": "Guitar is at the center, round biscuits are at back left, triangle building blocks are at back right, and cakes are at front."}
+{"scene_index": 24, "scene": "The guitar is in the center, the cakes are in front and at the back, the triangle building blocks are in multiple positions, and the round biscuits are also spread out."}
+{"scene_index": 25, "scene": "The guitar is at the center of the scene.   Round biscuits are positioned in the back left.   Cakes are located at both the front and back right.   Triangle building blocks are situated at the back."}
+{"scene_index": 26, "scene": "The guitar is at the center, with cakes positioned in the front and back areas on the right side, round biscuits placed at both front and back left sides, and triangle building blocks located at the back right."}
+{"scene_index": 27, "scene": "The guitar is at the center. The round biscuits are positioned at both the back left and back right. Cakes are located at front right, front, front left, and back right. The triangle building blocks are placed at front right, front, front left, and back right as well as back."}
+{"scene_index": 28, "scene": "The guitar is at the center, with round biscuits on the back left and back right, triangle building blocks on the back and front left, cakes on the front and front right, and another set of triangle building blocks on the front right."}
+{"scene_index": 29, "scene": "The triangle building blocks are at the back right, with another set of triangle building blocks also at the back right. The round biscuits are positioned at both the back left and the front. The cakes are located at the front, front right, and back positions. The guitar is in the center."}
+{"scene_index": 30, "scene": "Guitar is located at Center. Round Biscuits are located at Back Left. Cakes are located at Front Left. Triangle Building Blocks are located at Back Right. Cakes are located at Front Right. Triangle Building Blocks are located at Back. Cakes are located at Front. Triangle Building Blocks are located at Front Left. Cakes are located at Back Right. Blocks are located at Front. Triangle Building Blocks are located at Front Right."}
+{"scene_index": 31, "scene": "Guitar is at the center round biscuits are at the back left and front triangle building blocks are at the back right and cakes are at the front front right and back"}
+{"scene_index": 32, "scene": "Guitar is at the center, round biscuits are at the back left, triangle building blocks are at the back right and front right, and cakes are at the front and back right."}
+{"scene_index": 33, "scene": "The guitar is on the right, with cakes in front of it and round biscuits at the back. Blocks are positioned in both the front and back left areas."}
+{"scene_index": 34, "scene": "Round biscuits are positioned at both the back left and back right, a guitar is in the center, triangle building blocks are located at the back, front left, front, front right, and back right, and cakes are placed at the front and front right."}
+{"scene_index": 35, "scene": "The guitar is at the center. The cakes are in front and front right. The triangle building blocks are at back right, back right (mentioned twice), and front left. The round biscuits are at back left and front."}
+{"scene_index": 36, "scene": "The guitar is in the center. The round biscuits are at the back left. The triangle building blocks are at the back. The cakes are at the front and also at the front right and back right. The blocks are at the front right."}
+{"scene_index": 37, "scene": "Guitar is in the center, triangle building blocks are at the back right, round biscuits are at the back left and also at the front, cakes are at the front, front right, and back."}
+{"scene_index": 38, "scene": "There are guitars located at the center, round biscuits placed at the back left and back right, triangle building blocks situated at the front right, back, and front, cakes positioned at the front right, front, and back right, building blocks placed at the front, and blocks located at the front left."}
+{"scene_index": 39, "scene": "Round biscuits are in the back left and back right positions. Cakes are located at the front right, front, and back right. Triangle building blocks are at the back right and back. The guitar is centrally positioned."}
+{"scene_index": 40, "scene": "The round biscuits are at the back left and back right, the guitar is in the center, the triangle building blocks are spread across all positions except center, with some at front left, front right, and both front and back, and the cakes are positioned at front and back right."}
+{"scene_index": 41, "scene": "Guitar is positioned at the center. Cakes are placed in the front and one at the front right. Triangle building blocks are located at both the back right and front left. Round biscuits are situated at the back left, front, and back."}
+{"scene_index": 42, "scene": "Guitar is positioned at the center, round biscuits are placed at the back left, triangle building blocks are located at the back and back right, round cakes are situated at the front, building blocks are positioned at the front and front left, cakes are placed at the front right, and round biscuits on cakes are located at the back right."}
+{"scene_index": 43, "scene": "The guitar is at the center, round biscuits are at back left, cakes are at front right and also back right, triangle building blocks are at back, front, and front right, building blocks are at front, and  round  (possibly a round object) is at back right."}
+{"scene_index": 44, "scene": "The guitar is centered, round biscuits are at the back left, triangle building blocks are spread across both back and front positions (right, front left, front, front right), and cakes occupy various spots in front and back (left, center)."}
+{"scene_index": 45, "scene": "Guitar is at the center. Round biscuits are at the back left and also at the back right. Triangle building blocks are at the back, back right, front right, and front left. Cakes are at the front right, front, front left, and back right."}
+{"scene_index": 46, "scene": "The guitar is in the center, round biscuits are at the back left and back right, triangle building blocks are at the back, front right, and front left, cakes are at the front and back right, and regular blocks are at the front right."}
+{"scene_index": 47, "scene": "Guitar is in the center. Triangle building blocks are at the back right. Cakes are at the front and front right. Round biscuits are at the back left and front. Building blocks are at the front left."}
+{"scene_index": 48, "scene": "Guitar is in the center, round biscuits are at the back left and also on the back right, triangle building blocks are on the back right, front right, and also mentioned as being at the back, and cakes are at the front and front right, as well as on the back right."}
+{"scene_index": 49, "scene": "The guitar is at the center, round biscuits are on the back left and front, the triangle building blocks are at the back right, and the cakes are at the front right, front, and back."}

AIRBOT_MMK2_play_the_guitar/annotations/subtask_annotations.jsonl

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+{"subtask_index": 1, "subtask": "End"}
+{"subtask_index": 2, "subtask": "Place the ukulele on the table with the left gripper"}
+{"subtask_index": 3, "subtask": "Lift the ukulele with the left gripper"}
+{"subtask_index": 4, "subtask": "Grasp the ukulele with the left gripper"}
+{"subtask_index": 5, "subtask": "null"}

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