Copy AIRBOT_MMK2_double-sided_tape_placement into RoboCOIN_useable

AIRBOT_MMK2_double-sided_tape_placement/.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
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+*.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
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+*.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_double-sided_tape_placement/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_double-sided_tape_placement
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 50 |
+| **Total Frames** | 11452 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 200 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 553.8MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+Pick up a piece of double-sided tape and put it over the meinianda, then pick up another piece and put it over the meinianda.
+
+### Sub-Tasks
+This dataset includes 7 distinct subtasks:
+
+1. **Place the  transparent circular ring on the right onto the fanta in the middle  with right gripper** 
+2. **End** 
+3. **Grasp the transparent circular ring on the left with the left gripper** 
+4. **Place the  transparent circular ring on the left onto the fanta in the middle  with left gripper** 
+5. **Abnormal** 
+6. **Grasp the transparent circular ring on the right with the right gripper** 
+7. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:49
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_third_view**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 50, "total_frames": 11452, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:49"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_third_view": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AIRBOT_MMK2_double-sided_tape_placement_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_double-sided_tape_placement/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_double-sided_tape_placement/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_double-sided_tape_placement/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_double-sided_tape_placement/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_double-sided_tape_placement/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_double-sided_tape_placement/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "The orange can is at the center. The pink building blocks are in the front-left. There are three food items: one behind the scene, one in the back-right, and one in the front. The double-sided tapes are on both sides (left and right)."}
+{"scene_index": 1, "scene": "The pink building blocks are at the back, positioned opposite to two orange cans at the front. To the far left is a double-sided tape, and on the right side, another double-sided tape is placed next to some food items. In the front left area, there is a piece of food, while on the back right, additional food is situated near the pink building blocks."}
+{"scene_index": 2, "scene": "The orange can is at center, food is at back right and back left, double-sided tape is at right and left, yellow building blocks are at front and back right, pink building blocks are at front left."}
+{"scene_index": 3, "scene": "The orange can is at the center, the double-sided tape is on the right, food is at the back right and back left, yellow building blocks are in front and at the back right, and pink building blocks are at the front left."}
+{"scene_index": 4, "scene": "The orange can is at the center, the double-sided tape is on the left, the pink building blocks are in the front left, and multiple food items are positioned across various points including front right, back right, right, and front."}
+{"scene_index": 5, "scene": "Pink building blocks are positioned at the back. Orange can is placed at the front. Food (front left) is located at the front left. Double-sided tape is positioned on the left side. Food (back right) is situated at the back right. Food (front right) is placed at the front right."}
+{"scene_index": 6, "scene": "There is pink building block positioned at the back, orange can located in front, food placed at front left, double-sided tape situated on the right, food also positioned at back right, and another double-sided tape placed on the left."}
+{"scene_index": 7, "scene": "The pink building blocks are at the back, the orange can is in front, food items are located at front left, front right, and back right, while double-sided tape is positioned on both the left and right sides."}
+{"scene_index": 8, "scene": "The pink building blocks are at the back, the orange can is in the center, food items are positioned at the front left, back right, front, front right, and double-sided tapes are on the right and left."}
+{"scene_index": 9, "scene": "The orange can is at the center; pink building blocks are in the front-left; food is at the back-right and back-left; yellow building blocks are at the front and back-right; double-sided tape is on both sides (left and right)."}
+{"scene_index": 10, "scene": "The pink building blocks are at the back, an orange can is in the center, food is in the front left and front right positions, double-sided tape is on both the right and left sides."}
+{"scene_index": 11, "scene": "The orange can is at the center. The pink building blocks are in the front left. The double-sided tape is on the right. Food is at the back right. Yellow building blocks are in the front, another food item is at the back left, and yellow building blocks are also at the back right."}
+{"scene_index": 12, "scene": "The pink building blocks are positioned at the back, with the orange can in front. The double-sided tape is on the left. In front of the left side, there s food, and towards the front right and back right, there s more food. Lastly, food is also located at the back left."}
+{"scene_index": 13, "scene": "Orange can is at the center pink building blocks are in the front-left food is at the back-right food is also at the back-right duplicate food is at the front-right double-sided tape is on the left double-sided tape is on the right"}
+{"scene_index": 14, "scene": "The orange can is in front, the pink building blocks are in front-left, double-sided tape is on the right, food is at back-left and back-right, and yellow building blocks are in front and back."}
+{"scene_index": 15, "scene": "There are pink building blocks at the back, there is an orange can in front, there is double-sided tape on the left, and food is located at the back right, front left, and front right."}
+{"scene_index": 16, "scene": "The orange can is in the center. The pink building blocks are at the front left. There are multiple food items located at various positions: back, front, front right, and also a double-sided tape on both the left and right sides of the setup."}
+{"scene_index": 17, "scene": "The pink building blocks are at the back, while the orange can is in front. Food items are positioned at the front left, back right, and back left, and there are double-sided tapes on both the right and left sides. Additionally, yellow building blocks are located at the front right."}
+{"scene_index": 18, "scene": "The orange can is at the front, pink building blocks are at the back, food items are positioned across all four corners (front left, front right, back left, and back right), and double-sided tape is placed on both the right and left sides."}
+{"scene_index": 19, "scene": "The pink building blocks are at the back; the orange can is in the center; there is food on the front left, front, and front right sides; double-sided tape is on both the right and the left."}
+{"scene_index": 20, "scene": "The orange can is at the center, pink building blocks are in the front left, food items are positioned at the back right, double-sided tapes are on both sides (right and left), and another food item is at the front right."}
+{"scene_index": 21, "scene": "The pink building blocks are at the back, the orange can is in the center, the double-sided tape is on the left, and there are four food items located at front left, back right, front, and front right positions."}
+{"scene_index": 22, "scene": "The pink building blocks are at the back, the orange can is in front, the double-sided tape is on the left, and there are four food items positioned as follows: one at the back right, one at the front left, one at the back left, and one at the front right."}
+{"scene_index": 23, "scene": "The pink building blocks are positioned at the back, orange can is in the center, food items are placed at the front left, front right, and front, double-sided tape is on the left and right."}
+{"scene_index": 24, "scene": "Orange can is positioned at the front, pink building blocks are positioned at front left, double-sided tape is positioned on the left, food is positioned at back right, yellow building blocks are positioned at front, food is positioned at back left, double-sided tape is positioned on the right, yellow building blocks are positioned at back."}
+{"scene_index": 25, "scene": "The orange can is at the center, the pink building blocks are in the front left, the food items are spread across the back right and front right positions, two double-sided tapes are on the right and left sides respectively."}
+{"scene_index": 26, "scene": "The orange can is at the front, with pink building blocks in front of it on the left side, while yellow building blocks are slightly behind and also in front. The double-sided tapes are positioned on both the left and right sides. Meanwhile, food items are placed towards the back, one on the left and another on the right."}
+{"scene_index": 27, "scene": "Orange can is at the center. Food items are placed in the back front front-right and back-right positions. Pink building blocks are located at the front-left. Double-sided tapes are positioned on both the right and left sides."}
+{"scene_index": 28, "scene": "The pink building blocks are at the back, with the orange can in front. The food is positioned on both the front left and front right, while the double-sided tape is located on the right and left sides."}
+{"scene_index": 29, "scene": "The orange can is at the front; pink and yellow building blocks are in the front and front-left positions respectively; food items are located at the back-right and back-left; double-sided tapes are positioned on both the left and right sides."}
+{"scene_index": 30, "scene": "orange can is at the front the first food item is at the back right the pink building blocks are at the back the double-sided tape is on the left another food item is at the front left a third food item is at the front right lastly another food item is at the back left"}
+{"scene_index": 31, "scene": "In the scene, orange can is in the center, pink building blocks are at the front left, double-sided tape is on the right, food is at the back right, yellow building blocks are at the front, and food is also at the back left. Building blocks are at the back right."}
+{"scene_index": 32, "scene": "The pink building blocks are positioned at the back, while the orange can and food are in front, with the food located to the front left. The double-sided tape is on the left side, and the yellow building blocks are placed at the front right."}
+{"scene_index": 33, "scene": "orange can is in the front pink building blocks are in the front left double-sided tape is on the right food is at the back right yellow building blocks are in the front and back sided is on the left food is also at the back left"}
+{"scene_index": 34, "scene": "Pink building blocks at back. Orange can in center. Food at front left and front right. Double-sided tape on left and right."}
+{"scene_index": 35, "scene": "The orange can is in the front. The pink building blocks are in the front left. The food is in the back right. Double-sided tape is on the right. Double-sided tape is also on the left. The yellow building blocks are in the front and back. The food is also in the back left."}
+{"scene_index": 36, "scene": "The orange can is in the front, pink building blocks are at the back, food is on the front left and front right, as well as back left and back right, and double-sided tapes are on the left and right."}
+{"scene_index": 37, "scene": "The orange can is at the center, pink building blocks are in front-left, food is at back-right, double-sided tape is on the right, yellow building blocks are at front, another double-sided tape is on the left, another food item is at back-left, and more yellow building blocks are at back-right."}
+{"scene_index": 38, "scene": "The pink building blocks are positioned at the back, with the orange can and several food items located in front. Specifically, one food item is at the front left, another at the front right, and a third at the back left. Additionally, there are two double-sided tapes—one on the right side and another on the left side."}
+{"scene_index": 39, "scene": "The pink building blocks are positioned at the back, with double-sided tape placed on both the right and left sides. The orange can is located in the center, while food items are situated across various positions: one in front left, another at front, a third at front right, and a fourth at back right."}
+{"scene_index": 40, "scene": "The pink building blocks are positioned at the back, while the orange can is in front. The double-sided tape is on the right side with another one on the left. Food items are located in three positions: front left, front right, and back right."}
+{"scene_index": 41, "scene": "The orange can is at the center, pink building blocks are in front-left, food is at back-right, yellow building blocks are at front and back-right, double-sided tape is on both sides (left and right), and another food item is at back-left."}
+{"scene_index": 42, "scene": "The pink building blocks are at the back, the orange can is in front, the food is in front left, the double-sided tape is on the left, another food item is at the back right, and a third food item is at the back left."}
+{"scene_index": 43, "scene": "The orange can is at the front; pink building blocks are at the back; double-sided tape is on the left; food is located at front left, back right, and back left."}
+{"scene_index": 44, "scene": "The orange can is at the center, food is at the back right and back left, yellow building blocks are at the front and back right, double-sided tape is on both the right and left sides, and pink building blocks are at the front left."}
+{"scene_index": 45, "scene": "Orange can is at the center, yellow building blocks are in front, food is at the back right, pink building blocks are in front left, double-sided tape is on the right, food is also at the back left, and another double-sided tape is on the left."}
+{"scene_index": 46, "scene": "The orange can is at the center. Food items are located at the back right, back, front right, and front positions. Pink building blocks are placed in the front left. Double-sided tape is positioned on the left side."}
+{"scene_index": 47, "scene": "Orange can is in the front, pink building blocks are in the front left, food is in the back right, double-sided tape is on the right and left sides, yellow building blocks are in the front and back."}
+{"scene_index": 48, "scene": "\"There are pink building blocks at the back, an orange can in front, food on the front left, double-sided tape on the left side, food at the back right, and food on the front right.\""}
+{"scene_index": 49, "scene": "The orange can is in the front, the pink building blocks are in the front left, the food is in the back right, the double-sided tape is on the left, the yellow building blocks are in the front, the food is in the back left, the double-sided tape is on the right, the yellow building blocks are in the back, and the food is in the front right."}

AIRBOT_MMK2_double-sided_tape_placement/annotations/subtask_annotations.jsonl

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+{"subtask_index": 1, "subtask": "End"}
+{"subtask_index": 2, "subtask": "Grasp the transparent circular ring on the left with the left gripper"}
+{"subtask_index": 3, "subtask": "Place the  transparent circular ring on the left onto the fanta in the middle  with left gripper"}
+{"subtask_index": 4, "subtask": "Abnormal"}
+{"subtask_index": 5, "subtask": "Grasp the transparent circular ring on the right with the right gripper"}
+{"subtask_index": 6, "subtask": "null"}

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