Copy AIRBOT_MMK2_bowl_storage_pepper into RoboCOIN_useable

AIRBOT_MMK2_bowl_storage_pepper/.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_bowl_storage_pepper/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_bowl_storage_pepper
+
+## 📋 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** | 150 |
+| **Total Frames** | 19594 |
+| **Total Tasks** | 3 |
+| **Total Videos** | 600 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 715.7MB |
+
+
+## 👥 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
+Use one hand to place the pumpkin into the large white bowl while using your other hand to make space.
+The person used one hand to throw the chili peppers into the blue bowl.
+Use one hand to place the small bowl into the large one while using your other hand to make space.
+
+### Sub-Tasks
+This dataset includes 10 distinct subtasks:
+
+1. **Place the white bowl on the pink bowl with the left gripper** 
+2. **Grasp the white bowl with the left gripper** 
+3. **Static** 
+4. **End** 
+5. **Abnormal** 
+6. **Grasp the pumpkin with the left gripper** 
+7. **Place the pumpkin on the pink bowl with the left gripper** 
+8. **Grasp the yellow round chili pepper with the right gripper** 
+9. **Place yellow round chili pepper on the blue bowl with the right gripper** 
+10. **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 0:149
+
+
+## 📁 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": 150, "total_frames": 19594, "total_tasks": 3, "total_videos": 600, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:149"}, "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_bowl_storage_pepper_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_bowl_storage_pepper/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_bowl_storage_pepper/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_bowl_storage_pepper/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_bowl_storage_pepper/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_bowl_storage_pepper/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_bowl_storage_pepper/annotations/scene_annotations.jsonl

@@ -0,0 +1,150 @@
+{"scene_index": 0, "scene": "The bowl is on the right side, another bowl is on the left side; the bread is in the front-right area, a cube block is at the back-right position, and another cube block is located at the front-left."}
+{"scene_index": 1, "scene": "The bowl is on the right side, the bread is in the front right, the big pepper is on the left, one cube block is in front, and another cube block is at the back right."}
+{"scene_index": 2, "scene": "Bread is at front right, bowl is at right, big pepper is at left, cube block is at back right."}
+{"scene_index": 3, "scene": "The bowl is on the right, the bread is in front right, the other bowl is on the left, the cube block is in front left, and another cube block is at the back right."}
+{"scene_index": 4, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 5, "scene": "Bowl is on the right. Bread is in front-right. Bowl is on the left. Cube block is at back-right. Block is at front-left."}
+{"scene_index": 6, "scene": "The bread is at the front right, a bowl is on the right, another bowl is on the left, a cube block is at the back right, and another cube block is at the front left."}
+{"scene_index": 7, "scene": "The bowl is on the right side, the bread is in the front-right area, cube blocks are located at the back-right and front-left positions, and big peppers are positioned on the left side."}
+{"scene_index": 8, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 9, "scene": "The bowl is on the right, the bread is at the front right, a cube block is at the back right, the big pepper is on the left, and another cube block is at the front."}
+{"scene_index": 10, "scene": "The bowl is positioned on the right, the bread is located at the front right, a cube block is situated at the back right, another cube block is placed at the front, and the big pepper is on the left."}
+{"scene_index": 11, "scene": "The bowl is on the right, the bowl is on the left, bread is in front-right, cube block is at back-right, cube block is at front-left, block is at back-left."}
+{"scene_index": 12, "scene": "The bowl is positioned on the right. The bread is located at the front right. The big pepper is placed on the left. There is a cube block in front, and there is another cube block at the back right."}
+{"scene_index": 13, "scene": "The bowl is on the right, the big pepper is on the left, a cube block is at the back right, and another cube block is in front."}
+{"scene_index": 14, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 15, "scene": "The bowl is on the right, the bread is in front-right, the big pepper is on the left, the cube block is at the back-right, and the block is in front."}
+{"scene_index": 16, "scene": "The bowl is on the right side, the bread is in the front-right area, the first cube block is at the front, the second cube block is behind it towards the back right, and the big pepper is on the left."}
+{"scene_index": 17, "scene": "The bowl on the left is positioned to the left of the other bowl; both bowls are separate and not overlapping. The bread is located at the front right, near the cube block that is also in the back right. Additionally, there is another cube block situated at the front left."}
+{"scene_index": 18, "scene": "The bowl is on the right, the bread is at the front right, the big pepper is on the left, there are three cube blocks positioned in the front, back right, and left locations."}
+{"scene_index": 19, "scene": "The bowl is located at the back left, while the big pepper is positioned at the back right."}
+{"scene_index": 20, "scene": "The bowl is on the right, bread is in front of it on the right side, a big pepper is at the back left, there s a cube block at the back right, and another cube block is in front."}
+{"scene_index": 21, "scene": "The bowl is located at the back left, while the big pepper is positioned at the back right."}
+{"scene_index": 22, "scene": "bowl on the right, bread on the front right, bowl on the left, and cube block on the back right"}
+{"scene_index": 23, "scene": "The bowl is positioned on the left, while the big pepper is located on the right."}
+{"scene_index": 24, "scene": "The bowl is on the right. The bread is in front-right. The bowl is on the left. The cube block is at back-right. The cube block is at front-left."}
+{"scene_index": 25, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 26, "scene": "The bread is in the front right position, there are two bowls located on the left and right positions, and a cube block is positioned at the back right."}
+{"scene_index": 27, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 28, "scene": "The bowl is on the right, the bread is in front of it, there s another bowl on the left, a cube block is at the back right, and another cube block is at the front left."}
+{"scene_index": 29, "scene": "The bowl is on the right side, the bread is at the front-right, two cube blocks are positioned in front and back-right respectively, and the big pepper is located on the left."}
+{"scene_index": 30, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 31, "scene": "The bowl is on the right side, the big pepper is on the left side, the block is in front, and the cube block is at the back right."}
+{"scene_index": 32, "scene": "The bowl is on the right side, the big pepper is on the left, the bread is at the front right, the cube block in front is positioned centrally, and another cube block is located at the back right."}
+{"scene_index": 33, "scene": "The bowl is positioned at front left, while the big pepper is located on the right."}
+{"scene_index": 34, "scene": "The bowl is on the right, the bread is in front of the right side, the big pepper is at the back left, there are two cube blocks—one at the back right and one in front."}
+{"scene_index": 35, "scene": "The bowl on the right is positioned to the right of the bread in the front-right, which is itself in front of the bowl on the left. The cube block at the back-right is diagonally opposite to the cube block at the front-left."}
+{"scene_index": 36, "scene": "Bowl is on the right side big pepper is on the left side bread is at the front-right area one cube block is in front another cube block is at the back-right area"}
+{"scene_index": 37, "scene": "The bowl is on the right side, a big pepper is on the left, the bread is at the front right, a cube block is in front, another cube block is at the back right."}
+{"scene_index": 38, "scene": "The bowl is positioned at front left, while two big peppers are both located on the right side."}
+{"scene_index": 39, "scene": "The bowl is on the right. The bread is at the front right. A cube block is in the front, and another cube block is at the back right. The word big is written on the left."}
+{"scene_index": 40, "scene": "The bowl is on the right side, the bread is at the front-right, another bowl is on the left side, a cube block is at the back-right, and another cube block is at the front-left."}
+{"scene_index": 41, "scene": "The bowl is on the left, and two big peppers are both on the right."}
+{"scene_index": 42, "scene": "Bread is in the front right, two bowls are on the left and right, and a cube block is at the back right."}
+{"scene_index": 43, "scene": "Bread is located at the front-right, one bowl is positioned on the right side, another bowl is placed on the left side, a cube block is situated at the back-right, and additionally, a cube block is located at the front-left."}
+{"scene_index": 44, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 45, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 46, "scene": "Bread is located in the front right position Bowl 1 is on the right side Bowl 2 is on the left side Cube Block 1 is at the back right Cube Block 2 is at the front left Block is at the back left."}
+{"scene_index": 47, "scene": "The bowl is on the right The bread is in the front right One cube block is at the front and another cube block is at the back right The big pepper is on the left"}
+{"scene_index": 48, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 49, "scene": "Bowl (right), bread (front right), bowl (left), cube block (back right)."}
+{"scene_index": 50, "scene": "The bowl is positioned at the back left, while the big pepper is located at the back right."}
+{"scene_index": 51, "scene": "The bowl is located at the back left, while the big pepper is positioned at the back right."}
+{"scene_index": 52, "scene": "The bowl is on the right, the bread is in front of it on the front right, the big pepper is on the left, and there are three cube blocks positioned in the front, back right, and left."}
+{"scene_index": 53, "scene": "The bowl is on the right, the bread is in front of the right side, another bowl is on the left, and the cube block is at the back right."}
+{"scene_index": 54, "scene": "The bowl is on the right side. The bread is in the front-right area. The big pepper is located at the back-left position. There are two cube blocks—one is placed in the front and the other is positioned at the back-right corner."}
+{"scene_index": 55, "scene": "bowl is on the right, bread is in front-right, big pepper is on the left, cube block is at back-right, cube block is in front"}
+{"scene_index": 56, "scene": "The bowl is on the right, the bread is in front-right, the bowl is on the left, the cube block is at back-right, and the cube block is at front-left."}
+{"scene_index": 57, "scene": "The bowl is on the left, the bread is in front-right, the bowl is on the right, and the cube block is at the back-right."}
+{"scene_index": 58, "scene": "Bread is at the front right, bowl is on the right, big pepper is on the left, cube block is in front, and another cube block is at the back right."}
+{"scene_index": 59, "scene": "The bowl is on the right, with the bread in front of it on the right side. In front of that, there s a cube block. Behind it, also on the right, another cube block is placed. On the left side, there s a separate block."}
+{"scene_index": 60, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 61, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 62, "scene": "Bowl is on the right side, bread is in the front-right area, big pepper is on the left side, cube block one is at the back-right position, and cube block two is located in the front."}
+{"scene_index": 63, "scene": "The bowl is on the right, the bread is in front of the bowl on the right side, another bowl is on the left, and a cube block is at the back right."}
+{"scene_index": 64, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 65, "scene": "There is a bowl on the right, there is bread in front-right, there is a bowl on the left, there is a cube block at back-right, there is a cube block at front-left."}
+{"scene_index": 66, "scene": "The bowl on the right is positioned to the right of the bread, which is located at the front right. The bowl on the left is positioned to the left of the cube block, which is situated at the back right. The cube block at the front left is positioned diagonally across from the bowl on the left."}
+{"scene_index": 67, "scene": "The Bowl is positioned to the right, The Bread is positioned to the front right, The Big Pepper is positioned to the left, and The Cube Block is positioned to the back right and front."}
+{"scene_index": 68, "scene": "The bowl is on the left side, while the big pepper is located at the back right."}
+{"scene_index": 69, "scene": "The bowl is on the right, the bread is in front of it on the right side, the big pepper is on the left, there s a cube block in front, another cube block is at the back on the right."}
+{"scene_index": 70, "scene": "The bowl is on the right, the bread is in front of it on the right side, another bowl is on the left, and the cube block is at the back right."}
+{"scene_index": 71, "scene": "The bowl is located at front left, and the big pepper is on the right side."}
+{"scene_index": 72, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 73, "scene": "The bowl is on the right side, the bread is in front-right, the cube block is at back-right, and the block is in front."}
+{"scene_index": 74, "scene": "The bowl is located at the front left, while the big pepper is situated at the front right."}
+{"scene_index": 75, "scene": "The bowl on the right is positioned to the right of the other bowl, which is on the left. The bread is in the front right and is located at the front right corner near the bowl on the right. There are two cube blocks: one is in the front left, which is closer to the bread, and the other is in the back right, further away from both the bread and the bowls. Each object is placed according to its specified position, and their relationships are determined by these positions relative to each other."}
+{"scene_index": 76, "scene": "Bread is in the front right. Bowl (right) is on the right side. Bowl (left) is on the left side. Cube block is at the back right."}
+{"scene_index": 77, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 78, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 79, "scene": "The bowl is positioned at the front left, and the big pepper is located to the right."}
+{"scene_index": 80, "scene": "The big pepper is on the right, while the bowl is on the left."}
+{"scene_index": 81, "scene": "The bowl is on the left, and the big object is on the right."}
+{"scene_index": 82, "scene": "The bowl is positioned on the left, while the big pepper is located on the right."}
+{"scene_index": 83, "scene": "The bowl is on the right, the bread is in front right, the bowl is on the left, the cube block is at front left, and the cube block is at back right."}
+{"scene_index": 84, "scene": "The bowl is on the right Bread is at the front right The other bowl is on the left A cube block is in the front left Another cube block is at the back right"}
+{"scene_index": 85, "scene": "The bowl is located on the right side and the bread is situated at the front right position and the big pepper is placed on the left side and the cube block is found at the back right location and the block is positioned at the front."}
+{"scene_index": 86, "scene": "The big pepper is on the right, and the bowl is on the left."}
+{"scene_index": 87, "scene": "The bowl is on the right side, with the bread located in front of it towards the right. The cube block is positioned at the back right, while the big pepper is placed to the far left. Additionally, there s another cube block situated in the front area."}
+{"scene_index": 88, "scene": "The bowl is on the right, the bread is in front right, the cube blocks are at back right and front, and the big pepper is at back left."}
+{"scene_index": 89, "scene": "The bread is at the front-right, two bowls are on the left and right sides, a cube block is at the back-right and another cube block is at the front-left."}
+{"scene_index": 90, "scene": "The big pepper is on the right side, and the bowl is on the left side."}
+{"scene_index": 91, "scene": "The bread is in the front right, a bowl is on the right, another bowl is on the left, and a cube block is at the back right."}
+{"scene_index": 92, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 93, "scene": "The bowl is on the right, the bread is in front of it on the right side, the big pepper is on the left, there s a cube block in front, another cube block is at the back on the right."}
+{"scene_index": 94, "scene": "The bread is at the front right, with a bowl on the right and another bowl on the left; there s also a cube block at the back right."}
+{"scene_index": 95, "scene": "The bowl is on the right, the bread is in front of the bowl at the front right, there is a cube block in front and another cube block in the back right."}
+{"scene_index": 96, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 97, "scene": "The bowl is on the right, the big pepper is on the left, the bread is at the front right, there are two cube blocks in front (one closer and one farther), each positioned front and back right respectively."}
+{"scene_index": 98, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 99, "scene": "The bowl on the right is positioned to the right of the bowl on the left, both bowls are separate objects. The bread is located in the front right area, the cube block is at the back right, and another cube block is situated at the front left."}
+{"scene_index": 100, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 101, "scene": "The bowl is positioned on the left, while the big pepper is located on the right."}
+{"scene_index": 102, "scene": "The bowl is on the right side, the bread is at the front-right, a cube block is in front, and another cube block is at the back right."}
+{"scene_index": 103, "scene": "A bowl on the right, bread on the front right, a bowl on the left, a cube block on the back right, a cube block on the front left, and a cube block on the back left."}
+{"scene_index": 104, "scene": "Bowl is on the right side, bread is at the front right, big pepper is on the left side, cube block is in front, and another cube block is at the back right."}
+{"scene_index": 105, "scene": "The bowl is on the right, bread is in front right, big pepper is on the left, one cube block is in front, and another cube block is at the back right."}
+{"scene_index": 106, "scene": "The bowl on the right is positioned to the right of the bowl on the left, both bowls are separate objects. The bread is located in the front right area, the cube block is at the back right, and another cube block is situated at the front left."}
+{"scene_index": 107, "scene": "The bread is at the front right, the bowl is on the right, a cube block is at the back right, and another cube block is at the front left."}
+{"scene_index": 108, "scene": "The bowl is on the right, the bread is in front of it on the right side, the big pepper is at the back left, and the cube block is at the back right."}
+{"scene_index": 109, "scene": "The bowl is on the left, and there are two big peppers both positioned on the right."}
+{"scene_index": 110, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 111, "scene": "The bowl is on the right. The bowl is on the left. The bread is in front right. The cube block is at back right. The cube block is at front left."}
+{"scene_index": 112, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 113, "scene": "The bowl on the right is positioned to the right of the bowl on the left."}
+{"scene_index": 114, "scene": "The big pepper is positioned to the right, while the bowl is located on the left."}
+{"scene_index": 115, "scene": "The bowl is on the right, the bread is in front of it on the right side, the cube block is at the back right, and there s another cube block in front."}
+{"scene_index": 116, "scene": "Bread is at the front right, two bowls are positioned on the right and left sides, and a cube block is located at the back right."}
+{"scene_index": 117, "scene": "The bowl is positioned on the right and located to the right side. The bread is positioned at the front right and situated in the front-right area. The big pepper is positioned on the left and placed on the left side. The cube block is positioned at the front and back right, with one cube block at the front and another positioned at the back right."}
+{"scene_index": 118, "scene": "Bowl on the right is positioned to the right; bread at front right is located in front-right area; another bowl on the left is placed to the left; cube block at back right is situated at the back-right."}
+{"scene_index": 119, "scene": "The bread is at the front right, with a bowl on the right and another bowl on the left. The cube block is placed at the back right and also at the front left."}
+{"scene_index": 120, "scene": "Bread is at the front right, bowl is on the right side, bowl is on the left side, cube block is at the back right, cube block is at the front left."}
+{"scene_index": 121, "scene": "The bowl is on the right, with bread in front of it on the right side. A cube block is positioned at the back right, and another cube block is placed directly in front. The big pepper is located on the left."}
+{"scene_index": 122, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 123, "scene": "The bowl is on the right side, and there s another bowl on the left side. The bread is in the front-right area, a cube block is at the back-right, and another cube block is in the front."}
+{"scene_index": 124, "scene": "The bowl is on the right, the bread is in front right, two cube blocks are at front and back right, and the big pepper is on the left."}
+{"scene_index": 125, "scene": "Bowl is on the right, Bread is in front-right, Big pepper is on the left, Cube block is at back-right and front."}
+{"scene_index": 126, "scene": "The bread is at front right, the first bowl is at right, the second bowl is at left, the cube block is at back right, and  big  is at front left."}
+{"scene_index": 127, "scene": "Bowl is at the right, another bowl is in the center, bread is in front right, a cube block is at back right, and another cube block is at front left."}
+{"scene_index": 128, "scene": "The bowl is on the left, and the big pepper is on the right."}
+{"scene_index": 129, "scene": "The big pepper is positioned on the right, while the bowl is located on the left."}
+{"scene_index": 130, "scene": "The bowl is on the right, the bread is in front of it, there s another bowl on the left, a cube block is at the back right, and another cube block is at the front left."}
+{"scene_index": 131, "scene": "The bowl is positioned on the left, while the big pepper is located on the right."}
+{"scene_index": 132, "scene": "The bread is at front right, the first bowl is on the right, the second bowl is on the left, the cube block is at back right, and another cube block is at front left."}
+{"scene_index": 133, "scene": "The bowl is on the right big pepper is at the back left bread is at the front right cube block is at the back right cube block is in front cube block is at the back left."}
+{"scene_index": 134, "scene": "The bowl is on the left, and both big peppers are on the right."}
+{"scene_index": 135, "scene": "Bowl is on the right, bread is at front right, big pepper is on the left, one cube block is at back right, and another cube block is in front."}
+{"scene_index": 136, "scene": "Bowl is at front left; both big pepper and regular pepper are on the right side."}
+{"scene_index": 137, "scene": "Bread is in front right; first bowl is left; second bowl is right; cube block is back right."}
+{"scene_index": 138, "scene": "The bread is at front right, one bowl is on the right, another bowl is on the left, a cube block is at back right, and another cube block is at front left."}
+{"scene_index": 139, "scene": "The bread is at the front right, the bowl on the right is nearby, the bowl on the left is further away, the cube block in the front left is close, and the cube block in the back right is farthest."}
+{"scene_index": 140, "scene": "The bowl is on the right side, the bread is at the front-right, another bowl is on the left side, a cube block is at the back-right, and another cube block is at the front-left."}
+{"scene_index": 141, "scene": "The bowl is on the right side, the bread is in front of it, and there s a cube block near the back right. Another cube block is directly in front, and the big pepper is on the left side."}
+{"scene_index": 142, "scene": "The bowl is on the left, while both the big pepper and the regular pepper are positioned to the right."}
+{"scene_index": 143, "scene": "Bread is at front right, bowl is on the right, big pepper is on the left, two cube blocks are positioned at back right and front."}
+{"scene_index": 144, "scene": "The bowl is on the right, the big pepper is on the left, the bread is in front right, a cube block is in front, and another cube block is at the back right."}
+{"scene_index": 145, "scene": "The bowl is on the left side, and the big pepper is on the right side."}
+{"scene_index": 146, "scene": "Bowl is on the left, bowl is on the right, bread is in front-right, cube block is at back-right, and cube block is in front."}
+{"scene_index": 147, "scene": "The bread is in the front right, the bowl is on the right, the big pepper is on the left, one cube block is in front, and another cube block is at the back right."}
+{"scene_index": 148, "scene": "The bowl is on the left, while both the big pepper and the smaller pepper are positioned to the right."}
+{"scene_index": 149, "scene": "Bowl is on the right, bread is in front right, two cube blocks are at front and back right, big pepper is on the left."}

AIRBOT_MMK2_bowl_storage_pepper/annotations/subtask_annotations.jsonl

@@ -0,0 +1,10 @@
+{"subtask_index": 0, "subtask": "Place the white bowl on the pink bowl with the left gripper"}
+{"subtask_index": 1, "subtask": "Grasp the white bowl with the left gripper"}
+{"subtask_index": 2, "subtask": "Static"}
+{"subtask_index": 3, "subtask": "End"}
+{"subtask_index": 4, "subtask": "Abnormal"}
+{"subtask_index": 5, "subtask": "Grasp the pumpkin with the left gripper"}
+{"subtask_index": 6, "subtask": "Place the pumpkin on the pink bowl with the left gripper"}
+{"subtask_index": 7, "subtask": "Grasp the yellow round chili pepper with the right gripper"}
+{"subtask_index": 8, "subtask": "Place yellow round chili pepper on the blue bowl with the right gripper"}
+{"subtask_index": 9, "subtask": "null"}

AIRBOT_MMK2_bowl_storage_pepper/data/chunk-000/episode_000000.parquet

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+size 101242

AIRBOT_MMK2_bowl_storage_pepper/data/chunk-000/episode_000001.parquet

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+version https://git-lfs.github.com/spec/v1
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+size 87031

AIRBOT_MMK2_bowl_storage_pepper/data/chunk-000/episode_000002.parquet

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+version https://git-lfs.github.com/spec/v1
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+size 70116

AIRBOT_MMK2_bowl_storage_pepper/data/chunk-000/episode_000003.parquet

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+version https://git-lfs.github.com/spec/v1
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+size 57357

AIRBOT_MMK2_bowl_storage_pepper/data/chunk-000/episode_000004.parquet

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