Copy AIRBOT_MMK2_toy_storage into RoboCOIN_useable

AIRBOT_MMK2_toy_storage/.gitattributes

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+*.7z filter=lfs diff=lfs merge=lfs -text
+*.arrow filter=lfs diff=lfs merge=lfs -text
+*.bin filter=lfs diff=lfs merge=lfs -text
+*.bz2 filter=lfs diff=lfs merge=lfs -text
+*.ckpt filter=lfs diff=lfs merge=lfs -text
+*.ftz filter=lfs diff=lfs merge=lfs -text
+*.gz filter=lfs diff=lfs merge=lfs -text
+*.h5 filter=lfs diff=lfs merge=lfs -text
+*.joblib filter=lfs diff=lfs merge=lfs -text
+*.lfs.* filter=lfs diff=lfs merge=lfs -text
+*.lz4 filter=lfs diff=lfs merge=lfs -text
+*.mds filter=lfs diff=lfs merge=lfs -text
+*.mlmodel filter=lfs diff=lfs merge=lfs -text
+*.model filter=lfs diff=lfs merge=lfs -text
+*.msgpack filter=lfs diff=lfs merge=lfs -text
+*.npy filter=lfs diff=lfs merge=lfs -text
+*.npz filter=lfs diff=lfs merge=lfs -text
+*.onnx filter=lfs diff=lfs merge=lfs -text
+*.ot filter=lfs diff=lfs merge=lfs -text
+*.parquet filter=lfs diff=lfs merge=lfs -text
+*.pb filter=lfs diff=lfs merge=lfs -text
+*.pickle filter=lfs diff=lfs merge=lfs -text
+*.pkl filter=lfs diff=lfs merge=lfs -text
+*.pt filter=lfs diff=lfs merge=lfs -text
+*.pth filter=lfs diff=lfs merge=lfs -text
+*.rar filter=lfs diff=lfs merge=lfs -text
+*.safetensors filter=lfs diff=lfs merge=lfs -text
+saved_model/**/* filter=lfs diff=lfs merge=lfs -text
+*.tar.* filter=lfs diff=lfs merge=lfs -text
+*.tar filter=lfs diff=lfs merge=lfs -text
+*.tflite filter=lfs diff=lfs merge=lfs -text
+*.tgz filter=lfs diff=lfs merge=lfs -text
+*.wasm filter=lfs diff=lfs merge=lfs -text
+*.xz filter=lfs diff=lfs merge=lfs -text
+*.zip filter=lfs diff=lfs merge=lfs -text
+*.zst filter=lfs diff=lfs merge=lfs -text
+*tfevents* filter=lfs diff=lfs merge=lfs -text
+# Audio files - uncompressed
+*.pcm filter=lfs diff=lfs merge=lfs -text
+*.sam filter=lfs diff=lfs merge=lfs -text
+*.raw filter=lfs diff=lfs merge=lfs -text
+# Audio files - compressed
+*.aac filter=lfs diff=lfs merge=lfs -text
+*.flac filter=lfs diff=lfs merge=lfs -text
+*.mp3 filter=lfs diff=lfs merge=lfs -text
+*.ogg filter=lfs diff=lfs merge=lfs -text
+*.wav filter=lfs diff=lfs merge=lfs -text
+# Image files - uncompressed
+*.bmp filter=lfs diff=lfs merge=lfs -text
+*.gif filter=lfs diff=lfs merge=lfs -text
+*.png filter=lfs diff=lfs merge=lfs -text
+*.tiff filter=lfs diff=lfs merge=lfs -text
+# Image files - compressed
+*.jpg filter=lfs diff=lfs merge=lfs -text
+*.jpeg filter=lfs diff=lfs merge=lfs -text
+*.webp filter=lfs diff=lfs merge=lfs -text
+# Video files - compressed
+*.mp4 filter=lfs diff=lfs merge=lfs -text
+*.webm filter=lfs diff=lfs merge=lfs -text

AIRBOT_MMK2_toy_storage/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 10K-100K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_toy_storage
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 199 |
+| **Total Frames** | 28709 |
+| **Total Tasks** | 4 |
+| **Total Videos** | 796 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 1.1GB |
+
+
+## 👥 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
+with both hands, picked up the little dog doll on the white plate and placed it on the table.
+One hand picked up the shark doll from the table and passed it to the other hand, which then placed it in the white lid.
+Use one hand to pick up a building block and place it in the pink plate on one side, and use the other hand to put the remaining building block into the white plate on the opposite side.
+with both hands, he picked up the shark doll on the table and placed it in the white lid.
+
+### Sub-Tasks
+This dataset includes 12 distinct subtasks:
+
+1. **Grasp the whale with the left gripper** 
+2. **End** 
+3. **Place the puppy on the table with the left and right grippers** 
+4. **Grasp the puppy with the left and right grippers** 
+5. **Static** 
+6. **Grasp  the large green cube block with the left gripper** 
+7. **Place the whale on the white lid with the right gripper** 
+8. **Grasp the  large red cube block with the right gripper** 
+9. **Place the large green cube block on the pink plate with the left gripper** 
+10. **Place the large red cube block on the white lid with the right gripper** 
+11. **Deliver the whale from left   gripper to right gripper** 
+12. **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 0:198
+
+
+## 📁 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": 199, "total_frames": 28709, "total_tasks": 4, "total_videos": 796, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:198"}, "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_toy_storage_qced_hardlink/
+├── annotations/
+│   ├── eef_acc_mag_annotation.jsonl
+│   ├── eef_direction_annotation.jsonl
+│   ├── eef_velocity_annotation.jsonl
+│   ├── gripper_activity_annotation.jsonl
+│   ├── gripper_mode_annotation.jsonl
+│   └── (...)
+├── data/
+│   └── chunk-000/
+│       ├── episode_000000.parquet
+│       ├── episode_000001.parquet
+│       ├── episode_000002.parquet
+│       ├── episode_000003.parquet
+│       ├── episode_000004.parquet
+│       └── (...)
+├── meta/
+│   ├── episodes.jsonl
+│   ├── episodes_stats.jsonl
+│   ├── info.json
+│   └── tasks.jsonl
+└── videos/
+    └── chunk-000/
+        ├── observation.images.cam_high_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_left_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        ├── observation.images.cam_right_wrist_rgb/
+        │   ├── episode_000000.mp4
+        │   ├── episode_000001.mp4
+        │   ├── episode_000002.mp4
+        │   ├── episode_000003.mp4
+        │   ├── episode_000004.mp4
+        │   └── (...)
+        └── observation.images.cam_third_view/
+            ├── episode_000000.mp4
+            ├── episode_000001.mp4
+            ├── episode_000002.mp4
+            ├── episode_000003.mp4
+            ├── episode_000004.mp4
+            └── (...)
+```
+
+
+## 📞 Contact and Support
+
+For questions, issues, or feedback regarding this dataset, please contact:
+- **Email:** None
+For questions, issues, or feedback regarding this dataset, please contact us.
+### Support
+For technical support, please open an issue on our GitHub repository.
+
+## 📄 License
+
+This dataset is released under the **apache-2.0** license.
+
+Please refer to the LICENSE file for full license terms and conditions.
+
+
+## 📚 Citation
+
+If you use this dataset in your research, please cite:
+
+```bibtex
+@article{robocoin,
+    title={RoboCOIN: An Open-Sourced Bimanual Robotic Data Collection for Integrated Manipulation},
+    author={Shihan Wu, Xuecheng Liu, Shaoxuan Xie, Pengwei Wang, Xinghang Li, Bowen Yang, Zhe Li, Kai Zhu, Hongyu Wu, Yiheng Liu, Zhaoye Long, Yue Wang, Chong Liu, Dihan Wang, Ziqiang Ni, Xiang Yang, You Liu, Ruoxuan Feng, Runtian Xu, Lei Zhang, Denghang Huang, Chenghao Jin, Anlan Yin, Xinlong Wang, Zhenguo Sun, Junkai Zhao, Mengfei Du, Mingyu Cao, Xiansheng Chen, Hongyang Cheng, Xiaojie Zhang, Yankai Fu, Ning Chen, Cheng Chi, Sixiang Chen, Huaihai Lyu, Xiaoshuai Hao, Yequan Wang, Bo Lei, Dong Liu, Xi Yang, Yance Jiao, Tengfei Pan, Yunyan Zhang, Songjing Wang, Ziqian Zhang, Xu Liu, Ji Zhang, Caowei Meng, Zhizheng Zhang, Jiyang Gao, Song Wang, Xiaokun Leng, Zhiqiang Xie, Zhenzhen Zhou, Peng Huang, Wu Yang, Yandong Guo, Yichao Zhu, Suibing Zheng, Hao Cheng, Xinmin Ding, Yang Yue, Huanqian Wang, Chi Chen, Jingrui Pang, YuXi Qian, Haoran Geng, Lianli Gao, Haiyuan Li, Bin Fang, Gao Huang, Yaodong Yang, Hao Dong, He Wang, Hang Zhao, Yadong Mu, Di Hu, Hao Zhao, Tiejun Huang, Shanghang Zhang, Yonghua Lin, Zhongyuan Wang and Guocai Yao},
+    journal={arXiv preprint arXiv:2511.17441},
+    url = {https://arxiv.org/abs/2511.17441},
+    year={2025}
+    }
+```
+
+### Additional References
+
+If you use this dataset, please also consider citing:
+- LeRobot Framework: https://github.com/huggingface/lerobot
+
+## 📌 Version Information
+
+## Version History
+- v1.0.0 (2025-11): Initial release

AIRBOT_MMK2_toy_storage/annotations/eef_acc_mag_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_acc_mag_index": 0, "eef_acc_mag": "constant"}
+{"eef_acc_mag_index": 1, "eef_acc_mag": "accelerating"}
+{"eef_acc_mag_index": 2, "eef_acc_mag": "decelerating"}

AIRBOT_MMK2_toy_storage/annotations/eef_direction_annotation.jsonl

@@ -0,0 +1,7 @@
+{"eef_direction_index": 0, "eef_direction": "forward"}
+{"eef_direction_index": 1, "eef_direction": "backward"}
+{"eef_direction_index": 2, "eef_direction": "left"}
+{"eef_direction_index": 3, "eef_direction": "right"}
+{"eef_direction_index": 4, "eef_direction": "up"}
+{"eef_direction_index": 5, "eef_direction": "down"}
+{"eef_direction_index": 6, "eef_direction": "still"}

AIRBOT_MMK2_toy_storage/annotations/eef_velocity_annotation.jsonl

@@ -0,0 +1,3 @@
+{"eef_velocity_index": 0, "eef_velocity": "still"}
+{"eef_velocity_index": 1, "eef_velocity": "slow"}
+{"eef_velocity_index": 2, "eef_velocity": "fast"}

AIRBOT_MMK2_toy_storage/annotations/gripper_activity_annotation.jsonl

@@ -0,0 +1,4 @@
+{"gripper_activity_index": 0, "gripper_activity": "openning"}
+{"gripper_activity_index": 1, "gripper_activity": "closing"}
+{"gripper_activity_index": 2, "gripper_activity": "holding"}
+{"gripper_activity_index": 3, "gripper_activity": "unknown"}

AIRBOT_MMK2_toy_storage/annotations/gripper_mode_annotation.jsonl

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

AIRBOT_MMK2_toy_storage/annotations/scene_annotations.jsonl

@@ -0,0 +1,199 @@
+{"scene_index": 0, "scene": "Plate is at front, plate is at front right, building blocks are at back right, building blocks are at right, building blocks are at back right, building blocks are at back."}
+{"scene_index": 1, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 2, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 3, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 4, "scene": "The plate is positioned in front of the user, while building blocks are arranged across multiple positions to the right, back, and left sides."}
+{"scene_index": 5, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 6, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 7, "scene": "The first plate is at the front. The second plate is at the front right. The building blocks are located in multiple positions: back right, center, and back."}
+{"scene_index": 8, "scene": "The plate is in the front, and there are building blocks positioned to the right, back, back right, and back left."}
+{"scene_index": 9, "scene": "The square lid is positioned at the front, while the shark doll is placed at the center."}
+{"scene_index": 10, "scene": "The dog doll is positioned at the front, and the square lid is also located at the front."}
+{"scene_index": 11, "scene": "The square lid is located at the front-right position, while the shark doll is positioned on the left side."}
+{"scene_index": 12, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 13, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 14, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 15, "scene": "The square lid is at the front, and the dog doll is also at the front."}
+{"scene_index": 16, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 17, "scene": "The plate is located at the front of the scene, while another plate is positioned slightly to the front right. The building blocks are situated on the right side but further back in the composition compared to the plates."}
+{"scene_index": 18, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 19, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 20, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 21, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 22, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 23, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 24, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 25, "scene": "The plate is in the front, with another plate in the front right; building blocks are positioned in the center, and there are multiple building blocks at the back right and one more at the back."}
+{"scene_index": 26, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 27, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 28, "scene": "The square lid is located at the front-right position, while the shark doll is centrally positioned."}
+{"scene_index": 29, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 30, "scene": "The square lid is positioned at the front right, while the shark doll is located to the left."}
+{"scene_index": 31, "scene": "The square lid is positioned at the front, while the shark doll is located at the back."}
+{"scene_index": 32, "scene": "The plate is at the front, with another plate in front-right. The building blocks are on the right side and positioned at the back."}
+{"scene_index": 33, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 34, "scene": "The plate is located at the front. Another plate is positioned at the front-right. Building blocks are arranged around the edges of the scene; two sets are placed in the back-right area, one set is on the back-left, and another set is on the left side."}
+{"scene_index": 35, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 36, "scene": "The plate is positioned in the front, while multiple building blocks are placed across various positions including back left, back right, and center."}
+{"scene_index": 37, "scene": "The square lid is at the front, and the shark doll is on the left."}
+{"scene_index": 38, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 39, "scene": "The plate is at the front of the scene. The building blocks are spread across multiple positions including back right, right, left, and back, with two specifically located in the back right area."}
+{"scene_index": 40, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 41, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 42, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 43, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 44, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 45, "scene": "The square lid is in front, and the dog doll is also in front."}
+{"scene_index": 46, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 47, "scene": "The square lid is at the front right, and the shark doll is on the left."}
+{"scene_index": 48, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 49, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 50, "scene": "Plate is front; plate is front right; building blocks are back right, center, back, and back right."}
+{"scene_index": 51, "scene": "The dog doll is located at the back right, while the square lid is positioned in front."}
+{"scene_index": 52, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 53, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 54, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 55, "scene": "The plate is located at the front, while there are building blocks positioned in various places including the back right, center, and back."}
+{"scene_index": 56, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 57, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 58, "scene": "The plate is at the front (right and front), while the building blocks are positioned throughout the back area (left, right, center, and back)."}
+{"scene_index": 59, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 60, "scene": "The plate is at the front, with another plate positioned in the front right. Building blocks are located in the center, back, and back right areas."}
+{"scene_index": 61, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 62, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 63, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 64, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 65, "scene": "There are two plates located at the front and front right positions, while multiple building blocks are placed in various locations at the back, including the back, back right, and back left."}
+{"scene_index": 66, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 67, "scene": "The square lid is located at the front right, while the shark doll is positioned to the left."}
+{"scene_index": 68, "scene": "The square lid is positioned at the front, while the shark doll is placed at the center."}
+{"scene_index": 69, "scene": "The plate is at front, the building blocks are at front right, back right, center, back, and back left."}
+{"scene_index": 70, "scene": "The square lid is positioned at the front right, while the shark doll is located on the left."}
+{"scene_index": 71, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 72, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 73, "scene": "The square lid is located at the front right, while the shark doll is positioned to the left."}
+{"scene_index": 74, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 75, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 76, "scene": "The two plates are at the front, one is slightly to the front right. The six building blocks are spread across the right side, with some nearer to the back, including positions back right and back left."}
+{"scene_index": 77, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 78, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 79, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 80, "scene": "The plate is positioned at the front. Another plate is placed in the front-right area. Building blocks are located on the right side and extend to cover the back-right, back-left, and another section of the back-left positions."}
+{"scene_index": 81, "scene": "Plate is at front. Another plate is at front right. Building blocks are located in multiple positions including back right, center, back left, and back."}
+{"scene_index": 82, "scene": "The dog doll is positioned at the front, and the square lid is also located at the front."}
+{"scene_index": 83, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 84, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 85, "scene": "The square lid is at the front, while the shark doll is located at the back."}
+{"scene_index": 86, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 87, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 88, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 89, "scene": "The plate is positioned in the front. Another plate is positioned in the front right. Building blocks are located in various positions: back right, right, back, and front right."}
+{"scene_index": 90, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 91, "scene": "The plate is located at the front right, and another plate is in the front. The building blocks are positioned at the back right, center, and back."}
+{"scene_index": 92, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 93, "scene": "Plate: Front right, Building blocks: Back right, Center, Back left, Back"}
+{"scene_index": 94, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 95, "scene": "The square lid is positioned at the front right, while the shark doll is located on the left."}
+{"scene_index": 96, "scene": "The dog doll is positioned at the front, and the square lid is also located at the front."}
+{"scene_index": 97, "scene": "The plate is at the front, with another plate in the front-right. The building blocks are positioned across multiple locations, including back-right, right, back-left, and back."}
+{"scene_index": 98, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 99, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 100, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 101, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 102, "scene": "The square lid is positioned at the front, while the shark doll is located at the back."}
+{"scene_index": 103, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 104, "scene": "plate is at front another plate is at front right building blocks are on the right back right left and back right"}
+{"scene_index": 105, "scene": "The plate is positioned at the front, and there are additional plates in the front-right area. The building blocks are located at the back, with specific placements in the back-left, center, and back-right positions."}
+{"scene_index": 106, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 107, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 108, "scene": "The square lid is positioned at the front right, while the shark doll is located to the left."}
+{"scene_index": 109, "scene": "The square lid is at the front, and the shark doll is on the left."}
+{"scene_index": 110, "scene": "The square lid is positioned at the front right, while the shark doll is located to the left."}
+{"scene_index": 111, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 112, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 113, "scene": "The plate is at the front, with another plate in front right. The building blocks are positioned in back right, right, and back right again."}
+{"scene_index": 114, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 115, "scene": "The plate is in the front position."}
+{"scene_index": 116, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}
+{"scene_index": 117, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 118, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 119, "scene": "The dog doll is located at the back right position, while the square lid is situated at the front position."}
+{"scene_index": 120, "scene": "The plate is positioned in the front and front-right areas, while the building blocks are spread across various positions at the back, including back-left, back, back-right, and right."}
+{"scene_index": 121, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 122, "scene": "The plate is at the front. The other plate is in front-right position. The building blocks are located in various positions including back-right, right, back-left, and back."}
+{"scene_index": 123, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 124, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 125, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 126, "scene": "The plates are positioned as follows: The first plate is in front, the second plate is at the front-right, and building blocks are centered while also being positioned at the back-right, back-left, and back."}
+{"scene_index": 127, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 128, "scene": "The square lid is positioned at the front, while the shark doll is placed at the center."}
+{"scene_index": 129, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 130, "scene": "The square lid is at the front right, and the shark doll is on the left."}
+{"scene_index": 131, "scene": "The dog doll is positioned at the front, and the square lid is also located at the front."}
+{"scene_index": 132, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 133, "scene": "The plate is at the front. Another plate is at the front right. Building blocks are at the back right, back left, and back right (repeated twice)."}
+{"scene_index": 134, "scene": "The square lid is positioned at the front right, while the shark doll is located to the left."}
+{"scene_index": 135, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 136, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 137, "scene": "Plate is in the front. Another plate is in the front-right. Building blocks are positioned in multiple locations: back-right, right, back, and front-left."}
+{"scene_index": 138, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 139, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 140, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 141, "scene": "The plate is located at the front and front right positions, while the building blocks are spread across the back, back left, back right, right, and back right positions."}
+{"scene_index": 142, "scene": "The plate is located at the front of the scene, while the building blocks are positioned across multiple locations including the right, back right, and left sides."}
+{"scene_index": 143, "scene": "The dog doll is positioned at the front, and the square lid is also at the front."}
+{"scene_index": 144, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 145, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 146, "scene": "The plate is positioned at the front, with one plate located in the front right area. Building blocks are placed in various positions around the right side of the space, specifically on the back, back right, and back left areas."}
+{"scene_index": 147, "scene": "The plate is at the front Another plate is at the front right Building blocks are located in multiple positions one at the back one at the back right one on the right one at the center one at the back right again and one at the back left"}
+{"scene_index": 148, "scene": "The square lid is located at the front, while the shark doll is positioned to the left."}
+{"scene_index": 149, "scene": "The plate is in front, and the building blocks are positioned at various spots including back right, back, center, and another back right."}
+{"scene_index": 150, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 151, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 152, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 153, "scene": "The plate is at the front right, another plate is at the front. The building blocks are positioned in the back right, center, back, and back right."}
+{"scene_index": 154, "scene": "The square lid is positioned at the front, and so is the dog doll; both objects are located in the front area."}
+{"scene_index": 155, "scene": "The square lid is at the front, and the dog doll is in the center."}
+{"scene_index": 156, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 157, "scene": "The square lid is positioned at the front, while the shark doll is located at the back."}
+{"scene_index": 158, "scene": "The square lid is positioned at the front, while the shark doll is located in the center."}
+{"scene_index": 159, "scene": "The plate is in the front There are plates at the front and front-right positions Building blocks are located at the back back-left back-right center right and back-right positions"}
+{"scene_index": 160, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 161, "scene": "The plate is at the front, with another plate in front right. Building blocks are placed at back right, center, and back left positions."}
+{"scene_index": 162, "scene": "The plate is at the front, while the building blocks are positioned in various locations including the back, center, and back right."}
+{"scene_index": 163, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 164, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 165, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 166, "scene": "The plate is at the front of the scene. Building blocks are positioned in various locations around the back and right sides."}
+{"scene_index": 167, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 168, "scene": "Each square lid is positioned at the front."}
+{"scene_index": 169, "scene": "The plate is in the front position, while the building blocks are located in the back right, center, and back left positions."}
+{"scene_index": 170, "scene": "The plate is at the front, with another plate in front right. The building blocks are centered and located towards the back, specifically on the back right side."}
+{"scene_index": 171, "scene": "The square lid is positioned at the front, while the shark doll is placed at the center."}
+{"scene_index": 172, "scene": "The square lid is at the front, and the shark doll is on the left."}
+{"scene_index": 173, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 174, "scene": "The square lid is at the front, and the shark doll is on the left."}
+{"scene_index": 175, "scene": "The plate is located at the front and front right positions, while the building blocks are positioned at the back right, center, and back left locations."}
+{"scene_index": 176, "scene": "The square lid is positioned at the front, while the shark doll is centered."}
+{"scene_index": 177, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 178, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 179, "scene": "Plate is at front and building blocks are at back, right, back right, and back left."}
+{"scene_index": 180, "scene": "The dog doll is positioned at the front, and the square lid is also located at the front."}
+{"scene_index": 181, "scene": "The square lid is at the front, while the shark doll is on the left."}
+{"scene_index": 182, "scene": "The dog doll and square lid are both located at the front."}
+{"scene_index": 183, "scene": "The square lid is at the front, and the shark doll is on the left."}
+{"scene_index": 184, "scene": "The plate is positioned at the front, with another plate located slightly to the front right. Building blocks are distributed across the scene, specifically placed on the right side (back right), and also extend to the back left and back areas."}
+{"scene_index": 185, "scene": "The square lid is at the front, and the shark doll is in the center."}
+{"scene_index": 186, "scene": "The plate is in front and front right positions, while the building blocks are located at the back right, right, back, and back left positions."}
+{"scene_index": 187, "scene": "The plate is front, the plate is front right, the building blocks are back right, the building blocks are right, the building blocks are left, the building blocks are back left."}
+{"scene_index": 188, "scene": "The square lid is positioned at the front, while the shark doll is placed at the center."}
+{"scene_index": 189, "scene": "The dog doll is at the front, and the square lid is also at the front."}
+{"scene_index": 190, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 191, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 192, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 193, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 194, "scene": "The plate is in the front, another plate is at the front-right, and building blocks are located on the back-right, right side, back-left, and back."}
+{"scene_index": 195, "scene": "The dog doll is positioned at the front, as is the square lid."}
+{"scene_index": 196, "scene": "The square lid is located at the front, while the shark doll is positioned in the center."}
+{"scene_index": 197, "scene": "The square lid is positioned at the front, while the shark doll is located to the left."}
+{"scene_index": 198, "scene": "The dog doll is positioned in front, and the square lid is also positioned in front."}

AIRBOT_MMK2_toy_storage/annotations/subtask_annotations.jsonl

@@ -0,0 +1,12 @@
+{"subtask_index": 0, "subtask": "Grasp the whale with the left gripper"}
+{"subtask_index": 1, "subtask": "End"}
+{"subtask_index": 2, "subtask": "Place the puppy on the table with the left and right grippers"}
+{"subtask_index": 3, "subtask": "Grasp the puppy with the left and right grippers"}
+{"subtask_index": 4, "subtask": "Static"}
+{"subtask_index": 5, "subtask": "Grasp  the large green cube block with the left gripper"}
+{"subtask_index": 6, "subtask": "Place the whale on the white lid with the right gripper"}
+{"subtask_index": 7, "subtask": "Grasp the  large red cube block with the right gripper"}
+{"subtask_index": 8, "subtask": "Place the large green cube block on the pink plate with the left gripper"}
+{"subtask_index": 9, "subtask": "Place the large red cube block on the white lid with the right gripper"}
+{"subtask_index": 10, "subtask": "Deliver the whale from left   gripper to right gripper"}
+{"subtask_index": 11, "subtask": "null"}

AIRBOT_MMK2_toy_storage/data/chunk-000/episode_000000.parquet

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+oid sha256:66f85ba011608c41e30069df90210a11ed091ddab8cfc83642f249745bdf2761
+size 126869

AIRBOT_MMK2_toy_storage/data/chunk-000/episode_000001.parquet

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+version https://git-lfs.github.com/spec/v1
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