Copy AIRBOT_MMK2_screw_the_bottle_cap into RoboCOIN_useable

AIRBOT_MMK2_screw_the_bottle_cap/.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_screw_the_bottle_cap/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_screw_the_bottle_cap
+
+## 📋 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** | 50 |
+| **Total Frames** | 16965 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 200 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 632.3MB |
+
+
+## 👥 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
+Pick up the water bottle with one hand, twist off the cap with the other, and place the bottle on the table.
+
+### Sub-Tasks
+This dataset includes 6 distinct subtasks:
+
+1. **Place the bottle on the table with the left gripper** 
+2. **Grasp the bottle with the left gripper** 
+3. **Unscrew the bottle cap with the right hand while holding the bottle with the left hand** 
+4. **Lift the bottle up with the left gripper** 
+5. **End** 
+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 0:49
+
+
+## 📁 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": 50, "total_frames": 16965, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:49"}, "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_screw_the_bottle_cap_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_screw_the_bottle_cap/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_screw_the_bottle_cap/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_screw_the_bottle_cap/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_screw_the_bottle_cap/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_screw_the_bottle_cap/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_screw_the_bottle_cap/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The water bottle is at the front left, with biscuits positioned in the front and back (both back and back right), while building blocks are spread across the front right, front left, front, and back left."}
+{"scene_index": 1, "scene": "The water bottle is on the left, with biscuits in front and building blocks spread across front right, front left, back right, and back left positions."}
+{"scene_index": 2, "scene": "The water bottle is at the front left. The building blocks are positioned in multiple locations including front left, front, left, front right, back left, and back right. There are biscuits located at the front and back positions."}
+{"scene_index": 3, "scene": "The water bottle is at the front left, the biscuits are at the front and back (two in front, one at back), and the building blocks are at the left, front left, front right, and back left."}
+{"scene_index": 4, "scene": "The water bottle is at the front left, the biscuits are positioned in the front, back, and back right, and the building blocks are spread across the front left, front right, front, left, back left, and back right positions."}
+{"scene_index": 5, "scene": "The water bottle is on the left. Biscuits are in front and back left. Building blocks are scattered throughout the front and back, including front left, front right, and back right."}
+{"scene_index": 6, "scene": "The water bottle is in the front, and the building blocks are located at front right, back right, left, front left (mentioned twice), and back right. Additionally, there are biscuits placed at the back left (mentioned twice)."}
+{"scene_index": 7, "scene": "the water bottle is on the left, biscuits are in front and back left, building blocks are spread across front left, front right, and back right."}
+{"scene_index": 8, "scene": "Water bottle is at front left, biscuits are at front and back, with some specifically noted as being in the back, and building blocks are positioned across multiple areas: back left, left, front, front right, and back right."}
+{"scene_index": 9, "scene": "The water bottle is on the left. Biscuits are in front and at the back, with some positioned to the back right. Building blocks are scattered across various positions, including back left, left, front right, front left, and front. Additionally, there are blocks located at the back right."}
+{"scene_index": 10, "scene": "Biscuits on front a water bottle on front left building blocks on front left and front biscuits on back and back right building blocks on back left"}
+{"scene_index": 11, "scene": "The water bottle is located at the front left. The biscuits are positioned in the front. The building blocks are placed at the front left. The biscuits are also present at the back. Another set of biscuits is located at the back. The building blocks can be found on the left side. More building blocks are situated at the front. Additional biscuits are positioned at the back right. The building blocks are also placed at the back left. Finally, building blocks are located at the front right."}
+{"scene_index": 12, "scene": "The water bottle is at the front left. The biscuits are in the front and back left. The building blocks are in the front right, front left, back right, front, and left positions."}
+{"scene_index": 13, "scene": "The water bottle is located at the front left of the scene, positioned near the building blocks which are also present both in the front and back left. There are multiple biscuits arranged across the scene, specifically placed in the front, back, and back right positions."}
+{"scene_index": 14, "scene": "The water bottle is positioned at the front left, biscuits are located at front and back positions, and building blocks are placed at left, back left, front left, front, back right, back, and front right positions."}
+{"scene_index": 15, "scene": "The water bottle is on the left. The biscuits are in front, front right, back left, and front left positions. The building blocks are in front right, back right, front left, and front positions."}
+{"scene_index": 16, "scene": "The water bottle is located at the front left. Biscuits are positioned in front, back, and back right, while building blocks are placed at back left and front."}
+{"scene_index": 17, "scene": "The water bottle is on the left, with biscuits positioned in front, and building blocks are placed across various positions including front, front left, front right, back right, and back left."}
+{"scene_index": 18, "scene": "The water bottle is on the left, with biscuits in front, and building blocks positioned at front right, back right, left, front left (two instances), and front. Additionally, there are biscuits at back left and a block at back right."}
+{"scene_index": 19, "scene": "The water bottle is in the front-left; the biscuits are in the front and back-right; the building blocks are in the back-left and front."}
+{"scene_index": 20, "scene": "Biscuits are at the front and back positions, the water bottle is on the left, and building blocks are spread across multiple positions including front left, back left, front right, and front."}
+{"scene_index": 21, "scene": "Water bottle is on the left Biscuits are in front back and back right positions Building blocks are in front left front front right back left and front left positions"}
+{"scene_index": 22, "scene": "The water bottle is at front left. The building blocks are at front right and back right, with some overlapping positions. The biscuits are at front and back left."}
+{"scene_index": 23, "scene": "The water bottle is at the front left. The biscuits are at the front and back (including back right). Building blocks are at the front left, front, front right, back left, and front."}
+{"scene_index": 24, "scene": "Water bottle is on the left. Biscuits are in front, back, and back right positions. Building blocks are on the left, back left, front right, and front positions."}
+{"scene_index": 25, "scene": "The water bottle is at the front left. The biscuits are at the front and back. The building blocks are at the back left, front right, and front."}
+{"scene_index": 26, "scene": "The water bottle is positioned at front left. The biscuits are placed one at front, one at back, and another at back right. The building blocks are arranged across multiple positions including front left, left, front right, back left, and front."}
+{"scene_index": 27, "scene": "The water bottle is on the left. The biscuits are in front and at the back. The building blocks are scattered across the front, front left, back left, and back right."}
+{"scene_index": 28, "scene": "Water bottle is at front left. Biscuits are at front and back, including back and back right. Building blocks are at front right, left, and front. Blocks are at back left."}
+{"scene_index": 29, "scene": "The water bottle is at the front left. Biscuits are located in the front, back right, and back positions. Building blocks can be found on the left, front right, back left, front, and back sides."}
+{"scene_index": 30, "scene": "The water bottle is located at the front left, biscuits are positioned in the front and back left, building blocks are spread across front, front right, back right, and front."}
+{"scene_index": 31, "scene": "The water bottle is located at the front left. Biscuits are positioned in multiple locations: front, back, and back right. Building blocks are placed in various positions including front left, left, back left, front, and front right. Additionally, there are blocks at the front right."}
+{"scene_index": 32, "scene": "Water bottle is at the front left. Biscuits are at the front and back left. Building blocks are at the front right, front, and back right."}
+{"scene_index": 33, "scene": "The water bottle is in the front left along with building blocks. Biscuits can be found in front, back, back right, and back left positions. Building blocks are also located in front left, front right, front, back left, and back."}
+{"scene_index": 34, "scene": "The water bottle is in the front-left position. There are biscuits at the front and also at the back positions. Building blocks are located in multiple positions: back-left, left, front-right, front-left, front, and back-right."}
+{"scene_index": 35, "scene": "Water bottle is positioned at front left, biscuits are located at front and back right and back, building blocks are placed at front left (repeated three times), front left, front right, back left, front, and left."}
+{"scene_index": 36, "scene": "The water bottle is positioned at front left, the biscuits are at front and back left, and the building blocks are placed across multiple positions including front right, left, back right, and front."}
+{"scene_index": 37, "scene": "Each water bottle is positioned either at the front left or on the left side relative to a reference point."}
+{"scene_index": 38, "scene": "The water bottle is at the front left, the biscuits are in the front and back left, and the building blocks are scattered across the front right, front, and back right positions."}
+{"scene_index": 39, "scene": "The water bottle is at the front left. The building blocks are mainly in the front left and front, with some also at the front right and back left. The biscuits are positioned across multiple areas including front, back, and back right."}
+{"scene_index": 40, "scene": "The water bottle is in the front left, biscuits are in the front and back left, while building blocks are scattered across the front right, back right, front left, front, and back left positions."}
+{"scene_index": 41, "scene": "The water bottle is positioned at the front left. The biscuits are located in the front and back positions, with one biscuit specifically placed at the back right. The building blocks are situated across multiple areas: two on the left side (one at the front left and another presumably further back), and three at various points including the back left and front right."}
+{"scene_index": 42, "scene": "The water bottle is positioned at the front left. Biscuits are located in multiple positions, including front and back left (appearing twice). Building blocks are placed in several positions, including front right, back right, and front."}
+{"scene_index": 43, "scene": "Water bottle is at front left. Biscuits are at front and back left. Building blocks are at front right, back right, front left (x2), front (x3), and front left (x4)."}
+{"scene_index": 44, "scene": "The water bottle is at the front left, the building blocks are on the left and at the front, while the biscuits are in multiple positions including front, back, back right, and back left."}
+{"scene_index": 45, "scene": "The water bottle is at the front left. The biscuits are in front of it."}
+{"scene_index": 46, "scene": "The water bottle is at the front left, with building blocks also at the front left and front. Biscuits are present in multiple positions: front, back, back right, and another back. Building blocks are also located at the back left and front right."}
+{"scene_index": 47, "scene": "The water bottle is at front left. The biscuits are at front and back right and back. The building blocks are at left, back left, front right, and front."}
+{"scene_index": 48, "scene": "The water bottle is at the front left, the biscuits are at the front and back left, and the building blocks are at the front, front right, back right, and front."}
+{"scene_index": 49, "scene": "The water bottle is at front left; the biscuits are in front and also at back right and back; the building blocks are at back left, back right, front right, and front."}

AIRBOT_MMK2_screw_the_bottle_cap/annotations/subtask_annotations.jsonl

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+{"subtask_index": 1, "subtask": "Grasp the bottle with the left gripper"}
+{"subtask_index": 2, "subtask": "Unscrew the bottle cap with the right hand while holding the bottle with the left hand"}
+{"subtask_index": 3, "subtask": "Lift the bottle up with the left gripper"}
+{"subtask_index": 4, "subtask": "End"}
+{"subtask_index": 5, "subtask": "null"}

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