Copy AIRBOT_MMK2_medicine_bottle_storage into RoboCOIN_useable

AIRBOT_MMK2_medicine_bottle_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_medicine_bottle_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_medicine_bottle_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** | 49 |
+| **Total Frames** | 16023 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 196 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 467.8MB |
+
+
+## 👥 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
+Place the medicine bottle you are holding in one hand on the white platform, then place the other medicine bottle you are holding on the same platform.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **Grasp the white bottle with the left gripper** 
+2. **Static** 
+3. **End** 
+4. **Abnormal** 
+5. **Grasp the white bottle the right gripper** 
+6. **Place the white bottle on the white board with the left gripper** 
+7. **Place the white bottle on the white board with the right gripper** 
+8. **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": 16023, "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_medicine_bottle_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_medicine_bottle_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_medicine_bottle_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_medicine_bottle_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_medicine_bottle_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_medicine_bottle_storage/annotations/gripper_mode_annotation.jsonl

@@ -0,0 +1,3 @@
+{"gripper_mode_index": 0, "gripper_mode": "open"}
+{"gripper_mode_index": 1, "gripper_mode": "closed"}
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AIRBOT_MMK2_medicine_bottle_storage/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "Medicine bottle 1 is at the center, green building block is in the front right, medicine bottle 2 is on the right, red building block 1 is at the back, red building block 2 is at the back left, green building block is at the back right, white platform 1 is at the front, and white platform 2 is at the center."}
+{"scene_index": 1, "scene": "A red building block is located at the back, a medicine bottle is placed at the center, another medicine bottle is positioned to the right, a green building block is situated at the front right, another green building block is placed at the back right, a red building block is positioned at the back left, and a white platform is located at the front."}
+{"scene_index": 2, "scene": "The white platform is at the front, with a medicine bottle in the center. A green building block is at the front right, while two red building blocks are positioned at the back left and back. Another medicine bottle is located to the right, and another green building block is at the back right."}
+{"scene_index": 3, "scene": "The red and green building blocks are positioned at the back (left and right sides), while the white platforms are placed in the front (front and center positions). The two medicine bottles are located on the right and center of the setup."}
+{"scene_index": 4, "scene": "The green building blocks are positioned in the front right and back right, the medicine bottles are located in the center and on the right, the red building blocks are at the back and back left, and there is a white platform in the front while another platform is centrally placed."}
+{"scene_index": 5, "scene": "The medicine bottle is on the left and right, the red building block is at the back left and back, the green building block is at the front right and back right, and the white platform is at the front."}
+{"scene_index": 6, "scene": "The white platform is at the front; two medicine bottles are both in the center; a red building block is at the back; another red building block is at the back left; and a green building block is at the back right, while another green building block is at the front right."}
+{"scene_index": 7, "scene": "The white platform is at the front. The red building blocks are positioned at the back and back left. The green building blocks are placed at the front right, back right, and one medicine bottle is at the center, while another medicine bottle is on the right side."}
+{"scene_index": 8, "scene": "The red building block is at the back while another red building block is also positioned at the back left The green building block is located at the front right and there is another green building block placed at the back right The medicine bottle can be found in the center of the scene as well as near the right side Lastly the white platform is situated at the front and also positioned in the center"}
+{"scene_index": 9, "scene": "White platform is front, red building block is back, back left, medicine bottle is center, right, green building block is front right, back right."}
+{"scene_index": 10, "scene": "White platform is in the front. Red building block is at the back. Green building block is at the front right. Red building block is at the back left. Green building block is at the back right. Medicine bottle is on the right. Medicine bottle is at the center."}
+{"scene_index": 11, "scene": "\"White platform is positioned at the front. Medicine bottle is in the center. Red building block is placed at the back. Green building block is located at the front right. Another red building block is situated at the back left. A second medicine bottle remains in the center. Lastly, a green building block is found at the back right.\""}
+{"scene_index": 12, "scene": "The green building blocks are positioned in the front right and back right; the red building blocks are in the back left and back; there are two medicine bottles in the center; and the white platforms are at both the front and back."}
+{"scene_index": 13, "scene": "White platform is at the front, medicine bottle is in the center, green building block is at the front right, red building block is at the back, red building block is at the back left, green building block is at the back right, medicine bottle is on the right, and white platform is at the back."}
+{"scene_index": 14, "scene": "The red building block is at the back, the green building block is in front and to the right, the white platform is in front, another red building block is at the back left, a medicine bottle is on the right, another green building block is at the back right, another medicine bottle is at the center, and the platform is at the back."}
+{"scene_index": 15, "scene": "Red building block back Green building block front right White platform front Green building block back right Red building block back left Medicine bottle center Medicine bottle right"}
+{"scene_index": 16, "scene": "The green building blocks are positioned at the front right and back right, while the red building blocks are located at the back left and back. The medicine bottles are both in the center, and the white platforms are placed at the front and center positions."}
+{"scene_index": 17, "scene": "The green building blocks are positioned at front right and back right, the red building blocks are at back and back left, the medicine bottles are in center and on the right, all placed on a white platform."}
+{"scene_index": 18, "scene": "The white platform is at the front, the green building block is in the front right, a red building block is in the back left, another medicine bottle is on the right, and a red building block and a medicine bottle are in the back and center respectively."}
+{"scene_index": 19, "scene": "The green building block is at the back right, and the red building blocks are positioned at both the back left and back. The white platform is located in front. There are two medicine bottles, one placed in the center and the other on the right side."}
+{"scene_index": 20, "scene": "The white platform is at the front, with a medicine bottle in the center. Behind it, there s a red building block positioned at the back left and a green one at the back right. Another medicine bottle is located to the right of the setup."}
+{"scene_index": 21, "scene": "The white platform is at the front, with a medicine bottle in the center, and two green building blocks positioned at front right and back right. The red building block is located at back left, while another medicine bottle is placed on the right side."}
+{"scene_index": 22, "scene": "The white platform is at the front, with a medicine bottle in the center. The red building blocks are positioned at the back and back left, while the green building blocks are placed at the back right and front right. Additionally, there is a medicine bottle located on the right side."}
+{"scene_index": 23, "scene": "The white platform is at the front. The medicine bottles are in the center and on the right. The green building blocks are at the front right and back right. The red building blocks are at the back left and back."}
+{"scene_index": 24, "scene": "The red building block is in the back and back left positions, the medicine bottle is in the right, center, and back positions, the green building block is in the front right and back right positions, the white platform is in the front and center positions, and the platform is in the back position."}
+{"scene_index": 25, "scene": "The medicine bottles are at the center and right positions; the white platform is in front; the green and red building blocks occupy the front-right, back-left, back-right, and back positions; and there s a platform at the center."}
+{"scene_index": 26, "scene": "medicine bottle left red building block back medicine bottle right red building block back left green building block front right green building block back right white platform front white platform center"}
+{"scene_index": 27, "scene": "The medicine bottles are at the center and right, red building blocks are at the back left and back, green building blocks are at the front right and back right, white platform is at the front, and platforms are at the center and back."}
+{"scene_index": 28, "scene": "The white platform is at the front. The green building block is at the front right. The red building block is at the back left. The medicine bottle is at the center. Another medicine bottle is at the right. A second green building block is at the back right. Another red building block is at the back."}
+{"scene_index": 29, "scene": "White platform is in the front. Red building block is at the back. Green building block is at the front right. Medicine bottle is on the left. Medicine bottle is on the right. Red building block is at the back left. Green building block is at the back right."}
+{"scene_index": 30, "scene": "The Red Building Block is located at the back, The Medicine Bottle is placed in the center and on the right side, The Green Building Block is positioned at the front right and back right, and The White Platform is situated at the front."}
+{"scene_index": 31, "scene": "White platform is in the front, red building block is at the back, green building block is at the front right, another red building block is at the back left, medicine bottle is on the right, another green building block is at the back right, and the other medicine bottle is at the back."}
+{"scene_index": 32, "scene": "There is a green building block in the front right, there is a white platform in the front, there is a red building block in the back, there is a medicine bottle in the center, there is a red building block in the back left, there is a green building block in the back right, and there is a medicine bottle on the right."}
+{"scene_index": 33, "scene": "The red building blocks are at the back and back left positions, the medicine bottles are on the right and center, the green building blocks are at the front right and back right positions, and the white platform is at the front."}
+{"scene_index": 34, "scene": "White platform is at the front Two red building blocks are positioned at the back and back left A green building block is at the back right The medicine bottle is located on the right side Another green building block is placed at the front right Finally there s a medicine bottle in the center"}
+{"scene_index": 35, "scene": "Medicine bottle center, red building block back, red building block back left, green building block front right, medicine bottle right, green building block back right, and white platform front."}
+{"scene_index": 36, "scene": "The white platform is at the front. The green building block is at the front right. A red building block is at the back left. Another red building block is at the back. The medicine bottle is in the center and another medicine bottle is on the right."}
+{"scene_index": 37, "scene": "The red building block is located at the back (one at back left, one at back). The white platform is located at front and back. The medicine bottle is located at center and right. The green building block is located at front right and back right."}
+{"scene_index": 38, "scene": "The green building blocks are positioned at front right and back right; the red building blocks are at back and back left; the white platforms are at front and back; the medicine bottles are centered and on the right."}
+{"scene_index": 39, "scene": "The medicine bottle is at the center and also on the right; a white platform is in the front and back; two red building blocks are at the back and back left; and two green building blocks are at the front right and back right."}
+{"scene_index": 40, "scene": "The Green Building Block is on the front right, the Red Building Block is at the back, the Medicine Bottle is on the left, the Red Building Block is at the back left, the Medicine Bottle is on the right, the Green Building Block is at the back right, and the White Platform is at the front."}
+{"scene_index": 41, "scene": "The white platform is positioned in the front, the red building block is positioned in the back and back left, the green building block is positioned in the front right and back right, and the medicine bottle is positioned on the right and center."}
+{"scene_index": 42, "scene": "White platform is at the front. Medicine bottle is at the center and also on the right. Red building block is at the back left and also at the back. Green building block is at the front right and also at the back right."}
+{"scene_index": 43, "scene": "The white platform is in the front. The red building block is at the back. The green building blocks are located at front right and back right positions. Two medicine bottles are placed in the center and on the right side."}
+{"scene_index": 44, "scene": "The green building blocks are positioned at front right and back right, the red building blocks are at back and back left, the medicine bottles are at center and right, the white platforms are at front and center, and there s a platform at back."}
+{"scene_index": 45, "scene": "There's a red building block at the back there's another red building block at the back left there's a green building block at the front right there's a white platform at the front there's a medicine bottle on the right there's another medicine bottle in the center there's a green building block at the back right."}
+{"scene_index": 46, "scene": "The red building block is positioned at the back, the white platform is placed in front, the green building block is located at the front right, the red building block is situated at the back left, and the medicine bottle is positioned at the center."}
+{"scene_index": 47, "scene": "White platform is at the center Red building block is at the back Medicine bottle is on the left Green building block is in front-right Another red building block is at back-left Another medicine bottle is on the right Another green building block is at back-right"}
+{"scene_index": 48, "scene": "Medicine bottle is at center Red building block is at back Green building block is at front right Another medicine bottle is at right Another red building block is at back left Another green building block is at back right White platform is at front"}
+{"scene_index": 49, "scene": "The red building block is located at the back, the medicine bottle is positioned on the left side, the green building block is placed in the front right area, another red building block is situated at the back left, the white platform is located at the front, a medicine bottle is also present at the front right, the green building block is positioned at the back right, and finally, the white platform is centered."}

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+{"subtask_index": 1, "subtask": "Static"}
+{"subtask_index": 2, "subtask": "End"}
+{"subtask_index": 3, "subtask": "Abnormal"}
+{"subtask_index": 4, "subtask": "Grasp the white bottle the right gripper"}
+{"subtask_index": 5, "subtask": "Place the white bottle on the white board with the left gripper"}
+{"subtask_index": 6, "subtask": "Place the white bottle on the white board with the right gripper"}
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