Copy AIRBOT_MMK2_mobile_phone_storage into RoboCOIN_useable

AIRBOT_MMK2_mobile_phone_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_mobile_phone_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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_mobile_phone_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** | 9492 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 196 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 496.3MB |
+
+
+## 👥 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 mobile phone and place it on the calculator box, then pick it up from the box and put it on the table.
+
+### Sub-Tasks
+This dataset includes 8 distinct subtasks:
+
+1. **End** 
+2. **Place the telephone on the table with the right gripper** 
+3. **Static** 
+4. **Place the telephone on the box with the left gripper** 
+5. **Grasp the telephone with the left gripper** 
+6. **Grasp the telephone with the right gripper** 
+7. **Abnormal** 
+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": 9492, "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_mobile_phone_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_mobile_phone_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_mobile_phone_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_mobile_phone_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_mobile_phone_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_mobile_phone_storage/annotations/gripper_mode_annotation.jsonl

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

AIRBOT_MMK2_mobile_phone_storage/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The calculator box is at the front, while the food items are positioned across various locations including the back, sides, and front, with specific foods placed at back right, back left, front left, and front right. The building blocks are located at the back left, and the black mobile phone is on the left."}
+{"scene_index": 1, "scene": "The calculator box is at the front, building blocks are at front right and back left, while various foods are positioned across different locations including front left, left, right, back right, and back."}
+{"scene_index": 2, "scene": "The calculator box is at the front, food is in the front left, building blocks are both in the back right and front right, and there are two black mobile phones on the left."}
+{"scene_index": 3, "scene": "The calculator box is at the front, the food is at the front-left, the building blocks are at both back-right and back-left, and the black mobile phone is in the center."}
+{"scene_index": 4, "scene": "The calculator box is in the front, the black mobile phone is on the left, the building blocks are at the back left, and various food items are positioned throughout the area with specific placements as noted."}
+{"scene_index": 5, "scene": "The calculator box is positioned at the front. There are multiple food items located at various positions: one at back right, two at back (one unspecified and one unspecified), one at back right, one at front left, one at right, one at front right, one at left, and one at front left. The building blocks are positioned at back left and front right. The black mobile phone is located at center and left."}
+{"scene_index": 6, "scene": "Food is positioned in multiple locations: two at back right, one at back, one at front left, one at right, one at back again, one at back left, one at left, and one at front left. Calculator box is at the front. A black mobile phone is on the left and another is at center. Building blocks are placed at front right and back left."}
+{"scene_index": 7, "scene": "The calculator box is at the front. The food items are located at various positions: two in the back right, one at the back, one in the front left, and one on the right. There s also a piece of food in the back left. Additionally, there are building blocks positioned at the front right and back left. Lastly, the black mobile phone is placed on the left side."}
+{"scene_index": 8, "scene": "Calculator box is at the front. Food items are located in various positions: one at back right, one at back, one at front left, and one at right. Building blocks are placed at front right and back left. The black mobile phone is on the left."}
+{"scene_index": 9, "scene": "The calculator box is in front, food is at front left, building blocks are at back right and front right, and two black mobile phones are centered."}
+{"scene_index": 10, "scene": "The calculator box is at the front. The building blocks are at the back left. The food items are located at various positions: two are at the back right, one at the back, one at the front left, another at the back left, one on the left, one at the front left again, one at the front right, and one on the right."}
+{"scene_index": 11, "scene": "The calculator box is at the front, building blocks are in the back right and front right, while food items are placed in the front left."}
+{"scene_index": 12, "scene": "Calculator box is in the front, black mobile phone is on the left, food is in the back right, food is in the back right, food is in the back, food is in the front left, food is on the right, food is in the back, food is in the back left, food is on the left, building blocks are in the back left, blocks are in the front right, food is in the front right, food is in the front left."}
+{"scene_index": 13, "scene": "The calculator box is at the front. Food items are located across various positions: one each in the front left and front right, multiple at the back (some on the right, some on the left), and one on the left. Building blocks are placed at the back left. The black mobile phone is positioned on the left."}
+{"scene_index": 14, "scene": "The calculator box is at front right, food is at front left, building blocks are at both back right and back left."}
+{"scene_index": 15, "scene": "The calculator box is at the front, the black mobile phone is on the left, and food items are located at various positions including front left, front right, back left, back right, back, and left. Building blocks are placed at both the front right and back left."}
+{"scene_index": 16, "scene": "The calculator box is at the front. The food items are positioned across various locations: two are at the back right, one at the back, one at the front left, and others at the right, front right, and back left. The building blocks are at the back left, and the black mobile phone is on the left."}
+{"scene_index": 17, "scene": "The calculator box is at the front. Food items are positioned in various locations: two at the back right, one at the back, one at the front left, one at the front right, and one on the right side. Building blocks are placed at the back left. A black mobile phone is located to the left."}
+{"scene_index": 18, "scene": "The calculator box is at the front, with food positioned in various locations including the back right (two items), back (three items), front left, back left, and right. Building blocks are located at the back left and front right, while the black mobile phone is on the left."}
+{"scene_index": 19, "scene": "Calculator box is in the front Food is at the back right Food is at the back right Food is at the back Food is at the front left Food is at the back Food is at the back left Building blocks are at the front right Building blocks are at the back left Food is on the left Food is on the right Food is at the front left Food is at the front right Black mobile is on the left."}
+{"scene_index": 20, "scene": "The calculator box is in front. The food items are located across the scene with specific positions including front left, front right, left, right, back left, and back. Building blocks are at back left, and the black mobile phone is on the left side."}
+{"scene_index": 21, "scene": "The calculator box is at the front.   The food items are in various positions: two are at the back (one on the right and one unspecified), one is at the back right, one at the front left, one on the right, and one at the back left.   The building blocks are at the back left.   There are two black mobile phones—one on the left and one in the center."}
+{"scene_index": 22, "scene": "The calculator box is at the front, while multiple food items are positioned around the back and sides, a black mobile phone is on the left, building blocks are in the back left corner, and additional foods are scattered throughout the space."}
+{"scene_index": 23, "scene": "The calculator box is at the front. Food items are located in various positions: two are at back right, one at front left, one at back, three at back (one possibly overlapping), one at right, and another at back left and left. The building blocks are at back left, and the black mobile phone is on the left."}
+{"scene_index": 24, "scene": "The food is at front-left, the calculator box is in front, the building blocks are at back-right and back-left, and the black mobile phone is on the left."}
+{"scene_index": 25, "scene": "The calculator box is at the front, food items are positioned across multiple areas including back right, back, front left, right, and back left, building blocks are at the back left, and two black mobile phones are centrally located."}
+{"scene_index": 26, "scene": "Building blocks are located at back right Food is positioned at front left A calculator is on the left side Building blocks are also placed at back left A calculator box is located at front."}
+{"scene_index": 27, "scene": "The calculator box is in the front, and there are multiple food items located at various positions including back right, back, front left, right, back left, and left, as well as a building blocks set at back left, with the mobile phone placed centrally."}
+{"scene_index": 28, "scene": "The calculator box is at the front, while the food items are positioned in various locations including back right, back, back left, right, front left, and front right."}
+{"scene_index": 29, "scene": "The food is in the front left, the calculator box is in front, the black mobile phone is on the left, the building blocks are at the back right and back left."}
+{"scene_index": 30, "scene": "The calculator box is at the front. Food items are located across various positions: two in the back right, one each in the back, front left, and right, as well as one on the left. The building blocks are positioned at the front right and back left. The black mobile phone is on the left."}
+{"scene_index": 31, "scene": "The calculator box is at the front, positioned in the center of the scene. To its left, at the front-left corner, there s a food item. Behind it, on the back-right side, there are building blocks, and more building blocks are placed at the back-left position. On the left side, there’s also a black mobile phone."}
+{"scene_index": 32, "scene": "The calculator box is at the front. Multiple food items are positioned across various locations: two in the back right, one at the back, one in front left, and others on the right, back left, left, and front right. The black mobile phone is placed on the left and also at the center. Building blocks are located at the back left."}
+{"scene_index": 33, "scene": "Calculator box is at the front. Building blocks are at the back (right and left). Food is at the front left."}
+{"scene_index": 34, "scene": "The calculator box is positioned at the front, there are multiple food items located in various positions including back right, back, front left, right, back left, and left, building blocks are placed at back left and front right, and a black mobile phone is centered."}
+{"scene_index": 35, "scene": "The food is in the front-left position, the building blocks are at the back-right and back-left positions, the calculator box is in the front, and the black mobile phone is centered."}
+{"scene_index": 36, "scene": "Food items are positioned across various locations including the back right, back, front left, right, left, front left, and front right. A calculator box is at the front, a black mobile phone is on the left, and building blocks are located at the back left."}
+{"scene_index": 37, "scene": "Food is in front left, calculator box is in front, building blocks are in back right and front right, and black mobile phone is on the left."}
+{"scene_index": 38, "scene": "The calculator box is at the front. The black mobile phone is in the center. Food items are located at the back right, back, front left, back left, right, and left positions. Building blocks are placed at the back left and front right."}
+{"scene_index": 39, "scene": "The calculator box is at the front, with a black mobile phone in the center. Building blocks are placed on the front right and back left. Food items are scattered across various positions: two are located at the back (one near the back right and another at the back), one at the back left, one on the right, two at the front left, one on the front right, and one at the back again."}
+{"scene_index": 40, "scene": "The calculator box is at the front. Food items are located in various positions: two at back right, one at back, one at front left, one at back left, and one on the left. Building blocks are positioned at back left and front right. The mobile phone is centered."}
+{"scene_index": 41, "scene": "Food is in front left, calculator box is front, building blocks are back right and front right, calcula is front."}
+{"scene_index": 42, "scene": "The calculator box is at the front. The food items are located in various positions: two at back right, one at back, one at front left, and others at back left, left, front left, right, and front right. The building blocks are at the back left. The black mobile phone is on the left."}
+{"scene_index": 43, "scene": "The calculator box is at the front. Two instances of food are located at the back right and back positions. Additional foods are positioned at the front left (twice), back, back left, and right. The building blocks are placed at the front right and back left. A black mobile phone is on the left, another black mobile is in the center."}
+{"scene_index": 44, "scene": "The calculator box is at the front. The black mobile phone is on the left. Building blocks are in the back left. Various foods are placed across different positions including the back right, back, right, front left, and front right."}
+{"scene_index": 45, "scene": "The calculator box is at the front. The food items are located in various positions including back right, back, front left, and right. The black mobile phone is on the left. The building blocks are at the back left."}
+{"scene_index": 46, "scene": "The calculator box is positioned at the front, food items are located at various positions including back right, back, front left, right, and back left, and building blocks are placed at the back left and front right."}
+{"scene_index": 47, "scene": "The food is at the front-left, the calculator box is at the front, the building blocks are at the back-right and back-left, and the black mobile phone is on the left."}
+{"scene_index": 48, "scene": "The calculator box is at the front, with multiple food items located in various positions around it, including back right, back, front left, right, and left. Building blocks are positioned at the back left and front right. Two black mobile phones are on the left side."}
+{"scene_index": 49, "scene": "The calculator is at the front, food is in the front left, building blocks are placed both in the back left and back right, and the black mobile phone is on the left."}

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+{"subtask_index": 1, "subtask": "Place the telephone on the table with the right gripper"}
+{"subtask_index": 2, "subtask": "Static"}
+{"subtask_index": 3, "subtask": "Place the telephone on the box with the left gripper"}
+{"subtask_index": 4, "subtask": "Grasp the telephone with the left gripper"}
+{"subtask_index": 5, "subtask": "Grasp the telephone with the right gripper"}
+{"subtask_index": 6, "subtask": "Abnormal"}
+{"subtask_index": 7, "subtask": "null"}

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