diff --git a/Split_aloha_basket_storage_banana/.gitattributes b/Split_aloha_basket_storage_banana/.gitattributes new file mode 100644 index 0000000000000000000000000000000000000000..1ef325f1b111266a6b26e0196871bd78baa8c2f3 --- /dev/null +++ b/Split_aloha_basket_storage_banana/.gitattributes @@ -0,0 +1,59 @@ +*.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 diff --git a/Split_aloha_basket_storage_banana/README.md b/Split_aloha_basket_storage_banana/README.md new file mode 100644 index 0000000000000000000000000000000000000000..cf757bbdddd77bfcb61920ab4de32bdce91adf6f --- /dev/null +++ b/Split_aloha_basket_storage_banana/README.md @@ -0,0 +1,329 @@ +--- +task_categories: + - robotics + +language: + - en + - zh + + +extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publicationsβ€”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: 100K-1M + +license: apache-2.0 + +configs: +- config_name: default + data_files: data/*/*.parquet +--- + +# Split_aloha_basket_storage_banana + +## πŸ“‹ Overview + +This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot. + +**Robot Type:** `agilex_cobot_decoupled_magic` + | **Codebase Version:** `v2.1` +**End-Effector Type:** `two_finger_gripper` + +## 🏠 Scene Types + +This dataset covers the following scene types: +- `home` +- `kitchen` + + +## πŸ€– Atomic Actions + +This dataset includes the following atomic actions: +- `grasp` +- `place` +- `pick` + + +## πŸ“Š Dataset Statistics + +| Metric | Value | +|--------|-------| +| **Total Episodes** | 368 | +| **Total Frames** | 164327 | +| **Total Tasks** | 1 | +| **Total Videos** | 1104 | +| **Total Chunks** | 1 | +| **Chunk Size** | 1000 | +| **FPS** | 30 | +| **Dataset Size** | 2.8GB | + + +## πŸ‘₯ Authors + +### Contributors +This dataset is contributed by: +- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team + + +## πŸ”— Links + +- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ“„ Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441) +- **πŸ’» Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN) +- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/) +- **πŸ› Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues) +- **πŸ“œ License:** apache-2.0 + +## 🏷️ Dataset Tags + +- `RoboCOIN` +- `LeRobot` + + +## 🎯 Task Descriptions + +### Primary Tasks +pick up the banana and put it into the basket. + +### Sub-Tasks +This dataset includes 8 distinct subtasks: + +1. **End** +2. **Place the banana in the basket with right gripper** +3. **Grasp the banana with right gripper** +4. **Place the basket in the center of the table with the left gripper** +5. **Grasp the basket with the left gripper** +6. **Static** +7. **Abnormal** +8. **null** + + +## πŸŽ₯ Camera Views + +This dataset includes 3 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 + + +## πŸ“‚ Data Splits + +The dataset is organized into the following splits: + +- **Training**: Episodes 0:367 + + +## πŸ“ 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 + +#### 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 +- **gripper_open_scale_state**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_open_scale_action**: float32 + - Dimensions: left_gripper_open_scale, right_gripper_open_scale +- **gripper_mode_state**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_mode_action**: int32 + - Dimensions: left_gripper_mode, right_gripper_mode +- **gripper_activity_state**: int32 + - Dimensions: left_gripper_activity, right_gripper_activity + + +### Meta Information + +The complete dataset metadata is available in [meta/info.json](meta/info.json): + +```json +{"codebase_version": "v2.1", "robot_type": "agilex_cobot_decoupled_magic", "total_episodes": 368, "total_frames": 164327, "total_tasks": 1, "total_videos": 1104, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:367"}, "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.state": {"dtype": "float32", "shape": [26], "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_rad"]}, "action": {"dtype": "float32", "shape": [26], "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", "left_gripper_open", "left_eef_pos_x_m", "left_eef_pos_y_m", "left_eef_pos_z_m", "left_eef_rot_euler_x_rad", "left_eef_rot_euler_y_rad", "left_eef_rot_euler_z_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", "right_gripper_open", "right_eef_pos_x_m", "right_eef_pos_y_m", "right_eef_pos_z_m", "right_eef_rot_euler_x_rad", "right_eef_rot_euler_y_rad", "right_eef_rot_euler_z_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]}, "gripper_open_scale_state": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_open_scale_action": {"names": ["left_gripper_open_scale", "right_gripper_open_scale"], "dtype": "float32", "shape": [2]}, "gripper_mode_state": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_mode_action": {"names": ["left_gripper_mode", "right_gripper_mode"], "dtype": "int32", "shape": [2]}, "gripper_activity_state": {"names": ["left_gripper_activity", "right_gripper_activity"], "dtype": "int32", "shape": [2]}}} +``` + +### Directory Structure + +The dataset is organized as follows (showing leaf directories with first 5 files only): + +``` +Split_aloha_basket_storage_banana_qced_hardlink/ +β”œβ”€β”€ annotations/ +β”‚ β”œβ”€β”€ eef_acc_mag_annotation.jsonl +β”‚ β”œβ”€β”€ eef_direction_annotation.jsonl +β”‚ β”œβ”€β”€ eef_velocity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_activity_annotation.jsonl +β”‚ β”œβ”€β”€ gripper_mode_annotation.jsonl +β”‚ └── (...) +β”œβ”€β”€ data/ +β”‚ └── chunk-000/ +β”‚ β”œβ”€β”€ episode_000000.parquet +β”‚ β”œβ”€β”€ episode_000001.parquet +β”‚ β”œβ”€β”€ episode_000002.parquet +β”‚ β”œβ”€β”€ episode_000003.parquet +β”‚ β”œβ”€β”€ episode_000004.parquet +β”‚ └── (...) +β”œβ”€β”€ meta/ +β”‚ β”œβ”€β”€ episodes.jsonl +β”‚ β”œβ”€β”€ episodes_stats.jsonl +β”‚ β”œβ”€β”€ info.json +β”‚ └── tasks.jsonl +└── videos/ + └── chunk-000/ + β”œβ”€β”€ observation.images.cam_high_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + β”œβ”€β”€ observation.images.cam_left_wrist_rgb/ + β”‚ β”œβ”€β”€ episode_000000.mp4 + β”‚ β”œβ”€β”€ episode_000001.mp4 + β”‚ β”œβ”€β”€ episode_000002.mp4 + β”‚ β”œβ”€β”€ episode_000003.mp4 + β”‚ β”œβ”€β”€ episode_000004.mp4 + β”‚ └── (...) + └── observation.images.cam_right_wrist_rgb/ + β”œβ”€β”€ episode_000000.mp4 + β”œβ”€β”€ episode_000001.mp4 + β”œβ”€β”€ episode_000002.mp4 + β”œβ”€β”€ episode_000003.mp4 + β”œβ”€β”€ episode_000004.mp4 + └── (...) +``` + + +## πŸ“ž 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. + +## πŸ“„ License + +This dataset is released under the **apache-2.0** license. + +Please refer to the LICENSE file for full license terms and conditions. + + +## πŸ“š 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 + +## πŸ“Œ Version Information + +## Version History +- v1.0.0 (2025-11): Initial release \ No newline at end of file diff --git a/Split_aloha_basket_storage_banana/annotations/eef_acc_mag_annotation.jsonl b/Split_aloha_basket_storage_banana/annotations/eef_acc_mag_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..261c0cb86faecc005328e7b464d8fa76fc4eab3a --- /dev/null +++ b/Split_aloha_basket_storage_banana/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"} diff --git a/Split_aloha_basket_storage_banana/annotations/eef_direction_annotation.jsonl b/Split_aloha_basket_storage_banana/annotations/eef_direction_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..15eb9abd75814183c860e3bffd75f9148c4e0d04 --- /dev/null +++ b/Split_aloha_basket_storage_banana/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"} diff --git a/Split_aloha_basket_storage_banana/annotations/eef_velocity_annotation.jsonl b/Split_aloha_basket_storage_banana/annotations/eef_velocity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..67c684f8b05e1f6240ea5dd4a9bc9a5df14fe086 --- /dev/null +++ b/Split_aloha_basket_storage_banana/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"} diff --git a/Split_aloha_basket_storage_banana/annotations/gripper_activity_annotation.jsonl b/Split_aloha_basket_storage_banana/annotations/gripper_activity_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..275a505f9220cce6502eac987c96a0261ef3f030 --- /dev/null +++ b/Split_aloha_basket_storage_banana/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"} diff --git a/Split_aloha_basket_storage_banana/annotations/gripper_mode_annotation.jsonl b/Split_aloha_basket_storage_banana/annotations/gripper_mode_annotation.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..3825f1be6645468297ad5be29f9275f04db52345 --- /dev/null +++ b/Split_aloha_basket_storage_banana/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"} diff --git a/Split_aloha_basket_storage_banana/annotations/scene_annotations.jsonl b/Split_aloha_basket_storage_banana/annotations/scene_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..74ca14412d15fb466862f86b7aad22716ecd8c1d --- /dev/null +++ b/Split_aloha_basket_storage_banana/annotations/scene_annotations.jsonl @@ -0,0 +1,400 @@ +{"scene_index": 0, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 1, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 2, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 3, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 4, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 5, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 6, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 7, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 8, "scene": "The basket is on the left, while two bananas are both on the right."} +{"scene_index": 9, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 10, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 11, "scene": "The basket is positioned at the front left."} +{"scene_index": 12, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 13, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 14, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 15, "scene": "The basket is located at the front left position, while the banana is positioned on the right."} +{"scene_index": 16, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 17, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 18, "scene": "The basket is located at front left, and the banana is positioned on the right."} +{"scene_index": 19, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 20, "scene": "The basket is positioned on the left."} +{"scene_index": 21, "scene": "The banana is on the right side, positioned near or at the back, while the basket is located in the front-left area."} +{"scene_index": 22, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 23, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 24, "scene": "The basket is positioned to the left."} +{"scene_index": 25, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 26, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 27, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 28, "scene": "The basket is on the left side, and the banana is located at the back right."} +{"scene_index": 29, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 30, "scene": "The banana is positioned to the right, while the basket is located at the front left."} +{"scene_index": 31, "scene": "The basket is on the left side, and the banana is on the right side."} +{"scene_index": 32, "scene": "The banana is located at the front right, while the basket is positioned to the left."} +{"scene_index": 33, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 34, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 35, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 36, "scene": "The basket is positioned at front left, while the banana is located at front right."} +{"scene_index": 37, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 38, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 39, "scene": "The basket is on the left, containing two bananas; one is in front-right near it, and the other is on the right."} +{"scene_index": 40, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 41, "scene": "The basket is at the front left, while two bananas are both on the right side."} +{"scene_index": 42, "scene": "The basket is on the left side, and the banana is located at the back right."} +{"scene_index": 43, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 44, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 45, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 46, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 47, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 48, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 49, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 50, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 51, "scene": "The basket is on the left, and the banana is at the front right."} +{"scene_index": 52, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 53, "scene": "The basket is on the left, and the banana is located at the back right."} +{"scene_index": 54, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 55, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 56, "scene": "The basket is positioned to the left."} +{"scene_index": 57, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 58, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 59, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 60, "scene": "The basket is on the left, with two bananas: one in the front-right and another on the right."} +{"scene_index": 61, "scene": "The basket is located at the front left, while the banana is positioned on the right side."} +{"scene_index": 62, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 63, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 64, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 65, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 66, "scene": "The basket is on the left, and both bananas are on the right."} +{"scene_index": 67, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 68, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 69, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 70, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 71, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 72, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 73, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 74, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 75, "scene": "The basket is on the left, while the two bananas are both on the right."} +{"scene_index": 76, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 77, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 78, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 79, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 80, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 81, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 82, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 83, "scene": "The banana is located at the front right, while the basket is positioned on the left."} +{"scene_index": 84, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 85, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 86, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 87, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 88, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 89, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 90, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 91, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 92, "scene": "The basket is on the left, there is a banana on the right, and another banana is at the front right."} +{"scene_index": 93, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 94, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 95, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 96, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 97, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 98, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 99, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 100, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 101, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 102, "scene": "The basket is positioned to the left."} +{"scene_index": 103, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 104, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 105, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 106, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 107, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 108, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 109, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 110, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 111, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 112, "scene": "The basket is on the left, while two bananas are both on the right."} +{"scene_index": 113, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 114, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 115, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 116, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 117, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 118, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 119, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 120, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 121, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 122, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 123, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 124, "scene": "The basket is on the left side, and the banana is located at the front-right position relative to it."} +{"scene_index": 125, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 126, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 127, "scene": "The basket is on the left side, and the banana is on the right side."} +{"scene_index": 128, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 129, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 130, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 131, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 132, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 133, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 134, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 135, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 136, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 137, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 138, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 139, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 140, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 141, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 142, "scene": "The basket is on the left, and the banana is at the back right."} +{"scene_index": 143, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 144, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 145, "scene": "The basket is positioned to the left."} +{"scene_index": 146, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 147, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 148, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 149, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 150, "scene": "The basket is on the left side, while the banana is located at the back right position."} +{"scene_index": 151, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 152, "scene": "The basket is on the left, while two bananas are both on the right."} +{"scene_index": 153, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 154, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 155, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 156, "scene": "The basket is located at the front-left position."} +{"scene_index": 157, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 158, "scene": "The basket is positioned to the left."} +{"scene_index": 159, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 160, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 161, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 162, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 163, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 164, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 165, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 166, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 167, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 168, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 169, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 170, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 171, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 172, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 173, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 174, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 175, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 176, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 177, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 178, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 179, "scene": "The basket is located at the front left position, while the banana is situated on the right side."} +{"scene_index": 180, "scene": "The banana is located at the front-right position, while the basket is positioned on the left side."} +{"scene_index": 181, "scene": "The basket is positioned on the left side."} +{"scene_index": 182, "scene": "The basket is located at front left, and the banana is positioned on the right."} +{"scene_index": 183, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 184, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 185, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 186, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 187, "scene": "The basket is on the left, while the two bananas are both on the right."} +{"scene_index": 188, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 189, "scene": "The basket is positioned to the left."} +{"scene_index": 190, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 191, "scene": "The banana is on the right side, while the basket is located in the front-left area."} +{"scene_index": 192, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 193, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 194, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 195, "scene": "The basket is on the left, and there are two bananas on the right."} +{"scene_index": 196, "scene": "The banana is positioned at front right, while the basket is located on the left."} +{"scene_index": 197, "scene": "The basket is positioned on the left side."} +{"scene_index": 198, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 199, "scene": "The basket is on the left, while the two bananas are both on the right."} +{"scene_index": 200, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 201, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 202, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 203, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 204, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 205, "scene": "The basket is positioned at front left, while bananas are located to the right and front right."} +{"scene_index": 206, "scene": "The basket is on the left side, and the banana is on the right side."} +{"scene_index": 207, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 208, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 209, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 210, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 211, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 212, "scene": "The basket is positioned on the left side, while the banana is located at the back right."} +{"scene_index": 213, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 214, "scene": "The basket is on the left side, while the banana is located at the back right position."} +{"scene_index": 215, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 216, "scene": "The basket is positioned on the left."} +{"scene_index": 217, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 218, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 219, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 220, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 221, "scene": "The basket is on the left, while two bananas are both positioned on the right."} +{"scene_index": 222, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 223, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 224, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 225, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 226, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 227, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 228, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 229, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 230, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 231, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 232, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 233, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 234, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 235, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 236, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 237, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 238, "scene": "The basket is positioned on the left side."} +{"scene_index": 239, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 240, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 241, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 242, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 243, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 244, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 245, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 246, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 247, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 248, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 249, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 250, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 251, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 252, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 253, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 254, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 255, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 256, "scene": "The banana is positioned at front right, and the basket is placed on the left."} +{"scene_index": 257, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 258, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 259, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 260, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 261, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 262, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 263, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 264, "scene": "The basket is positioned on the left side."} +{"scene_index": 265, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 266, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 267, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 268, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 269, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 270, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 271, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 272, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 273, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 274, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 275, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 276, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 277, "scene": "The basket is positioned on the left."} +{"scene_index": 278, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 279, "scene": "The basket is located at the front left, while the banana is positioned on the right side."} +{"scene_index": 280, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 281, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 282, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 283, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 284, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 285, "scene": "The basket is on the left, and the banana is at the back right."} +{"scene_index": 286, "scene": "The basket is on the left, while the two bananas are both on the right."} +{"scene_index": 287, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 288, "scene": "The basket is located at the front-left position."} +{"scene_index": 289, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 290, "scene": "The basket is positioned on the left side."} +{"scene_index": 291, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 292, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 293, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 294, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 295, "scene": "The basket is on the left side, and the banana is on the right side."} +{"scene_index": 296, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 297, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 298, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 299, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 300, "scene": "The basket is on the left, and the banana is in the front-right."} +{"scene_index": 301, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 302, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 303, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 304, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 305, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 306, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 307, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 308, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 309, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 310, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 311, "scene": "The basket is positioned to the left."} +{"scene_index": 312, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 313, "scene": "The basket is on the left side, and the banana is located at the back-right position relative to it."} +{"scene_index": 314, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 315, "scene": "The basket is positioned to the left."} +{"scene_index": 316, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 317, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 318, "scene": "The basket is positioned on the left side."} +{"scene_index": 319, "scene": "The banana is positioned on the right side, while the basket is located on the left side."} +{"scene_index": 320, "scene": "The basket is positioned at the front left."} +{"scene_index": 321, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 322, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 323, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 324, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 325, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 326, "scene": "The basket is positioned at the front left, while the banana is located on the right side."} +{"scene_index": 327, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 328, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 329, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 330, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 331, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 332, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 333, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 334, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 335, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 336, "scene": "The basket is at the front left, and the banana is at the front right."} +{"scene_index": 337, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 338, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 339, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 340, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 341, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 342, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 343, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 344, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 345, "scene": "The banana is on the right side, and the basket is located at the front-left position relative to it."} +{"scene_index": 346, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 347, "scene": "The basket is on the left, while the two bananas are both on the right."} +{"scene_index": 348, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 349, "scene": "The basket is on the left side, and the banana is located at the front right, with no direct interaction between them."} +{"scene_index": 350, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 351, "scene": "The basket is positioned on the left side."} +{"scene_index": 352, "scene": "The basket is positioned on the left side."} +{"scene_index": 353, "scene": "The basket is on the left, while two bananas are on the right."} +{"scene_index": 354, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 355, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 356, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 357, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 358, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 359, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 360, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 361, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 362, "scene": "The banana is positioned at the back right, while the basket is located on the left side."} +{"scene_index": 363, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 364, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 365, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 366, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 367, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 368, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 369, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 370, "scene": "The banana in front right is next to the banana on the right, both near the basket on the left."} +{"scene_index": 371, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 372, "scene": "The banana is on the right side, and the basket is on the left side."} +{"scene_index": 373, "scene": "The banana is on the right side, while the basket is on the left side."} +{"scene_index": 374, "scene": "The basket is on the left, while two bananas are on the right."} +{"scene_index": 375, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 376, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 377, "scene": "The banana is located at the back right position, while the basket is positioned on the left."} +{"scene_index": 378, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 379, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 380, "scene": "The basket is located at the front left position."} +{"scene_index": 381, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 382, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 383, "scene": "The banana is on the right side, and the basket is located at the front-left position."} +{"scene_index": 384, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 385, "scene": "The banana is positioned to the right, while the basket is located on the left."} +{"scene_index": 386, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 387, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 388, "scene": "The basket is on the left, and the banana is on the right."} +{"scene_index": 389, "scene": "The banana is located at the back right, while the basket is placed on the left."} +{"scene_index": 390, "scene": "The basket is positioned on the left side."} +{"scene_index": 391, "scene": "The basket is on the left, and the banana is at the front-right."} +{"scene_index": 392, "scene": "The basket is located at front left, while the banana is positioned to its right."} +{"scene_index": 393, "scene": "The banana is on the right side, and the basket is on the left side, with no direct connection between them."} +{"scene_index": 394, "scene": "The banana is located at the back right position, while the basket is placed on the left."} +{"scene_index": 395, "scene": "The banana is located at the back right, while the basket is placed on the left side."} +{"scene_index": 396, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 397, "scene": "The banana is located at the back right, while the basket is positioned on the left."} +{"scene_index": 398, "scene": "The banana is on the right, and the basket is on the left."} +{"scene_index": 399, "scene": "The banana is on the right side, while the basket is on the left side."} diff --git a/Split_aloha_basket_storage_banana/annotations/subtask_annotations.jsonl b/Split_aloha_basket_storage_banana/annotations/subtask_annotations.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..ba798a3ddb244fce311d618e90feeadd1746b075 --- /dev/null +++ b/Split_aloha_basket_storage_banana/annotations/subtask_annotations.jsonl @@ -0,0 +1,8 @@ +{"subtask_index": 0, "subtask": "End"} +{"subtask_index": 1, "subtask": "Place the banana in the basket with right gripper"} +{"subtask_index": 2, "subtask": "Grasp the banana with 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