Copy AIRBOT_MMK2_place_the_small_bowl_of_canned_food into RoboCOIN_useable

AIRBOT_MMK2_place_the_small_bowl_of_canned_food/.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_place_the_small_bowl_of_canned_food/README.md

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+---
+task_categories:
+  - robotics
+
+language:
+  - en
+  - zh
+
+
+extra_gated_prompt: 'By accessing this dataset, you agree to cite the associated paper in your research/publications—see the "Citation" section for details. You agree to not use the dataset to conduct experiments that cause harm to human subjects.'
+
+
+
+extra_gated_fields:
+
+  Company/Organization:
+    type: 'text'
+    description: 'e.g., "ETH Zurich", "Boston Dynamics", "Independent Researcher"'
+
+  Country:
+    type: 'country'
+    description: 'e.g., "Germany", "China", "United States"'
+
+
+
+tags:
+  - RoboCOIN
+  - LeRobot
+
+frame_range: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_place_the_small_bowl_of_canned_food
+
+## 📋 Overview
+
+This dataset uses an extended format based on LeRobot and is fully compatible with LeRobot.
+
+**Robot Type:** `discover_robotics_aitbot_mmk2`
+ | **Codebase Version:** `v2.1`
+**End-Effector Type:** `five_finger_hand`
+
+## 🏠 Scene Types
+
+This dataset covers the following scene types:
+- `home`
+
+
+## 🤖 Atomic Actions
+
+This dataset includes the following atomic actions:
+- `grasp`
+- `pick`
+- `place`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 50 |
+| **Total Frames** | 7610 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 200 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 313.5MB |
+
+
+## 👥 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
+The hand picked up the mini bowl of canned food from the table and placed it on the mini table.
+
+### Sub-Tasks
+This dataset includes 5 distinct subtasks:
+
+1. **End** 
+2. **Abnormal** 
+3. **Place the small bowl of canned food on the table with the right gripper** 
+4. **Grasp the small bowl of canned food with right gripper** 
+5. **null** 
+
+
+## 🎥 Camera Views
+
+This dataset includes 4 camera views.
+
+## 🏷️ Available Annotations
+
+This dataset includes rich annotations to support diverse learning approaches:
+
+### Subtask Annotations
+- **Subtask Segmentation**: Fine-grained subtask segmentation and labeling
+### Scene Annotations
+- **Scene-level Descriptions**: Semantic scene classifications and descriptions
+### End-Effector Annotations
+- **Direction**: Movement direction classifications for robot end-effectors
+- **Velocity**: Velocity magnitude categorizations during manipulation
+- **Acceleration**: Acceleration magnitude classifications for motion analysis
+
+
+### Gripper Annotations
+- **Gripper Mode**: Open/close state annotations for gripper control
+- **Gripper Activity**: Activity state classifications (active/inactive)
+
+
+### Additional Features
+- **End-Effector Simulation Pose**: 6D pose information for end-effectors in simulation space
+  - Available for both state and action
+- **Gripper Opening Scale**: Continuous gripper opening measurements
+  - Available for both state and action
+
+
+## 📂 Data Splits
+
+The dataset is organized into the following splits:
+
+- **Training**: Episodes 0:49
+
+
+## 📁 Dataset Structure
+
+This dataset follows the LeRobot format and contains the following components:
+
+### Data Files
+- **Videos**: Compressed video files containing RGB camera observations
+- **State Data**: Robot joint positions, velocities, and other state information
+- **Action Data**: Robot action commands and trajectories
+- **Metadata**: Episode metadata, timestamps, and annotations
+
+### File Organization
+- **Data Path Pattern**: `data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet`
+- **Video Path Pattern**: `videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4`
+- **Chunking**: Data is organized into 1 chunk(s)
+of size 1000
+
+
+### Features Schema
+
+The dataset includes the following features:
+
+#### Visual Observations
+- **observation.images.cam_high_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_left_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_right_wrist_rgb**: video
+  - FPS: 30
+  - Codec: av1- **observation.images.cam_third_view**: video
+  - FPS: 30
+  - Codec: av1
+
+#### State and Action- **observation.state**: float32- **action**: float32
+
+#### Temporal Information
+- **timestamp**: float32
+- **frame_index**: int64
+- **episode_index**: int64
+- **index**: int64
+- **task_index**: int64
+
+
+#### Annotations
+- **subtask_annotation**: int32
+- **scene_annotation**: int32
+
+
+#### Motion Features
+- **eef_sim_pose_state**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_sim_pose_action**: float32
+  - Dimensions: left_eef_pos_x, left_eef_pos_y, left_eef_pos_z, left_eef_ori_x, left_eef_ori_y, left_eef_ori_z, right_eef_pos_x, right_eef_pos_y, right_eef_pos_z, right_eef_ori_x, right_eef_ori_y, right_eef_ori_z
+- **eef_direction_state**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_direction_action**: int32
+  - Dimensions: left_eef_direction, right_eef_direction
+- **eef_velocity_state**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_velocity_action**: int32
+  - Dimensions: left_eef_velocity, right_eef_velocity
+- **eef_acc_mag_state**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+- **eef_acc_mag_action**: int32
+  - Dimensions: left_eef_acc_mag, right_eef_acc_mag
+
+
+#### Gripper Features
+
+
+### Meta Information
+
+The complete dataset metadata is available in [meta/info.json](meta/info.json):
+
+```json
+{"codebase_version": "v2.1", "robot_type": "discover_robotics_aitbot_mmk2", "total_episodes": 50, "total_frames": 7610, "total_tasks": 1, "total_videos": 200, "total_chunks": 1, "chunks_size": 1000, "fps": 30, "splits": {"train": "0:49"}, "data_path": "data/chunk-{episode_chunk:03d}/episode_{episode_index:06d}.parquet", "video_path": "videos/chunk-{episode_chunk:03d}/{video_key}/episode_{episode_index:06d}.mp4", "features": {"observation.images.cam_high_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_left_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_right_wrist_rgb": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.images.cam_third_view": {"dtype": "video", "shape": [480, 640, 3], "names": ["height", "width", "channels"], "info": {"video.height": 480, "video.width": 640, "video.codec": "av1", "video.pix_fmt": "yuv420p", "video.is_depth_map": false, "video.fps": 30, "video.channels": 3, "has_audio": false}}, "observation.state": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "action": {"dtype": "float32", "shape": [36], "names": ["left_arm_joint_1_rad", "left_arm_joint_2_rad", "left_arm_joint_3_rad", "left_arm_joint_4_rad", "left_arm_joint_5_rad", "left_arm_joint_6_rad", "right_arm_joint_1_rad", "right_arm_joint_2_rad", "right_arm_joint_3_rad", "right_arm_joint_4_rad", "right_arm_joint_5_rad", "right_arm_joint_6_rad", "left_hand_joint_1_rad", "left_hand_joint_2_rad", "left_hand_joint_3_rad", "left_hand_joint_4_rad", "left_hand_joint_5_rad", "left_hand_joint_6_rad", "left_hand_joint_7_rad", "left_hand_joint_8_rad", "left_hand_joint_9_rad", "left_hand_joint_10_rad", "left_hand_joint_11_rad", "left_hand_joint_12_rad", "right_hand_joint_1_rad", "right_hand_joint_2_rad", "right_hand_joint_3_rad", "right_hand_joint_4_rad", "right_hand_joint_5_rad", "right_hand_joint_6_rad", "right_hand_joint_7_rad", "right_hand_joint_8_rad", "right_hand_joint_9_rad", "right_hand_joint_10_rad", "right_hand_joint_11_rad", "right_hand_joint_12_rad"]}, "timestamp": {"dtype": "float32", "shape": [1], "names": null}, "frame_index": {"dtype": "int64", "shape": [1], "names": null}, "episode_index": {"dtype": "int64", "shape": [1], "names": null}, "index": {"dtype": "int64", "shape": [1], "names": null}, "task_index": {"dtype": "int64", "shape": [1], "names": null}, "subtask_annotation": {"names": null, "dtype": "int32", "shape": [5]}, "scene_annotation": {"names": null, "dtype": "int32", "shape": [1]}, "eef_sim_pose_state": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_sim_pose_action": {"names": ["left_eef_pos_x", "left_eef_pos_y", "left_eef_pos_z", "left_eef_ori_x", "left_eef_ori_y", "left_eef_ori_z", "right_eef_pos_x", "right_eef_pos_y", "right_eef_pos_z", "right_eef_ori_x", "right_eef_ori_y", "right_eef_ori_z"], "dtype": "float32", "shape": [12]}, "eef_direction_state": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_direction_action": {"names": ["left_eef_direction", "right_eef_direction"], "dtype": "int32", "shape": [2]}, "eef_velocity_state": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_velocity_action": {"names": ["left_eef_velocity", "right_eef_velocity"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_state": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}, "eef_acc_mag_action": {"names": ["left_eef_acc_mag", "right_eef_acc_mag"], "dtype": "int32", "shape": [2]}}}
+```
+
+### Directory Structure
+
+The dataset is organized as follows (showing leaf directories with first 5 files only):
+
+```
+AIRBOT_MMK2_place_the_small_bowl_of_canned_food_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_place_the_small_bowl_of_canned_food/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_place_the_small_bowl_of_canned_food/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_place_the_small_bowl_of_canned_food/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_place_the_small_bowl_of_canned_food/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_place_the_small_bowl_of_canned_food/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_place_the_small_bowl_of_canned_food/annotations/scene_annotations.jsonl

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+{"scene_index": 0, "scene": "Cakes are on the left and front-right; bowl is on the right; black biscuits are at the back-left; mini tables and chairs are centered; triangle building blocks are scattered across the front-left, center, front-right, back, and back-right positions; and regular biscuits are at the back-left."}
+{"scene_index": 1, "scene": "The mini table is at the front and center, with a bowl on its right side. Black biscuits are positioned at the back left, while mini chairs are placed to the right and center of the setup. Triangle building blocks are scattered throughout the arrangement, specifically at the front left, back right, front right, and back positions. Cakes are located on the left, front, and front right sides."}
+{"scene_index": 2, "scene": "The mini table is at the front, with a bowl on its right. Black biscuits are placed at the back left, while regular biscuits are behind them. Cakes are positioned to the left, front right, and front. Mini chairs are located at the right, center (two instances), and front. Triangle building blocks are found at the front left, back right, and back, with an additional block at the front right. A larger table is centered in the arrangement."}
+{"scene_index": 3, "scene": "The mini table is positioned at the front and center, black biscuits are located at the back left, a bowl is placed on the right side, cakes are positioned at front right, left, and front, mini chairs are situated at the back, right, center, and front, and triangle building blocks are located at front left, back right, front right, back, and front."}
+{"scene_index": 4, "scene": "The mini table is centered, with the bowl to its right. Black biscuits are at the back left, while mini chairs are positioned to the right and center. The triangle building blocks are at the front left and back right, along with cakes placed at the left, front right, and front. Additional mini chairs are at the center and front. Biscuits are on the left and back left, chairs are at the front right, and building blocks are at the back and back position."}
+{"scene_index": 5, "scene": "Mini table is at the center, black biscuits are at the back left, mini chairs are at the center (multiple instances), triangle building blocks are at the front left, back right, and front right, cakes are at the front right, front, and left, a bowl is at the right, biscuits are at the back left."}
+{"scene_index": 6, "scene": "Bowl is on the right, black biscuits are at back left, mini chairs are on the right, center, and front, triangle building blocks are at front left, back right, front right, and back, cakes are on the left, front, and front right, and mini table is at the center."}
+{"scene_index": 7, "scene": "Mini Table is located at Center. Black Biscuits are located at Back Left. Mini Chairs are located at Center, Right, Front. Cakes are located at Left, Front, Front Right. Bowl is located at Right. Triangle Building Blocks are located at Front Left, Back Right, Front Right, Back."}
+{"scene_index": 8, "scene": "Mini table is centered, Bowl is on the right side, Cakes are on the left and front right and front, Black biscuits are on the back left, Triangle building blocks are on the front left and back right and front right, Mini chairs are in the center (x3), on the right, and at the front, Building blocks are at the back, Biscuits are on the back left and left."}
+{"scene_index": 9, "scene": "The mini table is at the front and center, the cakes are on the left and front, the bowl is on the right, the black biscuits are at the back left, the mini chairs are on the right, center, and front, the triangle building blocks are at the front left and back right, and the building blocks are at the front right and back."}
+{"scene_index": 10, "scene": "The mini table is at the center. The bowl is on the right. Black biscuits are positioned at the back left. There are mini chairs on the right, two at the center, and one at the front. Cakes are placed at the front right, front, and left. Triangle building blocks are located at the front right, back right, back left, and back, as well as a triangle at the back. Biscuits are also at the back left."}
+{"scene_index": 11, "scene": "The mini table is at the front and center. The cakes are on the left and front right. The black biscuits are at the back left and left. The bowl is on the right. The mini chairs are at the center (multiple), right, and front. The triangle building blocks are at the front left, front right, back right, back, and back. The triangle is at the back."}
+{"scene_index": 12, "scene": "The mini table is in the front and center. The black biscuits are at the back left. The mini chairs are at the center, right, and front. The bowl is on the right. The triangle building blocks are at the front left, back right, front right, and back. The cakes are at the left, front, and front right. The biscuits are on the left."}
+{"scene_index": 13, "scene": "The setup features a mini table centered with a bowl nearby on the right. Mini chairs are positioned to the right and center, along with triangle building blocks scattered across various points including front right, back right, front left, and back. Cakes are placed in multiple locations, primarily on the left and front. Black biscuits are at the back left, while regular biscuits are on the left and back left as well. A black object is also present near the front left."}
+{"scene_index": 14, "scene": "Mini table is front and center, bowl is on the right, mini chairs are on the right (two of them), as well as at the back, center, and front, black biscuits are at the back left, cakes are on the left, front, and front right, and triangle building blocks are at the front left, front right, back right, and back."}
+{"scene_index": 15, "scene": "The mini table is at the front, black biscuits are at the back left, mini chairs are at center, right, and front, bowl is on the right, triangle building blocks are at back right and back, cakes are at front right and front."}
+{"scene_index": 16, "scene": "The Mini table is at the center. The cakes are on the left and front. The black biscuits are at the back left. The bowl is on the right. The mini chairs are on the right, center (two times), and front. The triangle building blocks are at the front left, front right, and back right. The building blocks are at the back. The biscuits are also at the back left."}
+{"scene_index": 17, "scene": "The mini table is at the front, bowl on the right, cakes on the left, black biscuits at the back left, mini chairs in the center, triangle building blocks at front left and front right as well as back right, biscuits on the left and back left, and building blocks at the back."}
+{"scene_index": 18, "scene": "The mini tables are at the center, with mini chairs also positioned at the center and right. The bowl is on the right, while black biscuits are at the back left and regular biscuits are at the left. Cakes are located at the left, front left, front right, and front. Triangle building blocks are placed at the front left, front right, back right, back, and back left."}
+{"scene_index": 19, "scene": "The mini table is at the front and center; the cakes are on the left and front right; the bowl is on the right; the black biscuits are at the back left; two sets of mini chairs are in the center and right; triangle building blocks are at the front left, back right, and front right; another set of building blocks is at the back; a third set of cakes is at the front; and the biscuits are also at the back left."}
+{"scene_index": 20, "scene": "The mini table is at the center, with a bowl on its right side. Black biscuits are positioned at the back left, and regular biscuits are also placed at the back left. Cakes are located at both the left and front right positions. Mini chairs are spread across the center, right, and front areas. Triangle building blocks are placed at the front left, back right, and front right, while regular building blocks are positioned at the back."}
+{"scene_index": 21, "scene": "The scene features a mini table in the center with a bowl on its right side. To the front of the table is a mini chair and building blocks arranged across multiple positions, including the front left, front right, and back right. On the left side are cakes, black biscuits, and regular biscuits, while to the right are more cakes and a mini chair."}
+{"scene_index": 22, "scene": "The mini table is at the front. The bowl and two sets of mini chairs are on the right. The triangle building blocks are spread across the front left, front right, and back right areas. Cakes are placed on the left, front, and front right sides. Biscuits are positioned on the front left, left, back left, and front positions."}
+{"scene_index": 23, "scene": "The mini table is at the center, with mini chairs centered and also on the right. The bowl is on the right, while black biscuits are at the back left and regular biscuits are there too. Cakes are on the left, front right, and front. Triangle building blocks are at front left, back right, and back."}
+{"scene_index": 24, "scene": "The mini table is in the center, cakes are on the left and front right, a bowl is on the right, mini chairs are at the back, right, center, and front, triangle building blocks are in the front left, front right, back right, and back, black biscuits are at the back left and front right, biscuits are at the back left, and a triangle is at the back."}
+{"scene_index": 25, "scene": "The scene includes cakes positioned on the left and front, a mini table centered, black biscuits at the back left, a bowl on the right, triangle building blocks placed in the front left, back right, and front right, and mini chairs centered, on the right, and at the front."}
+{"scene_index": 26, "scene": "The mini table is at the front black biscuits are at the back left bowl is on the right two mini chairs are on the right and center one mini chair is at the back cakes are at the front right triangle building blocks are at the front left and back right building blocks are at the front right and back a triangle is at the back biscuits are at the back left."}
+{"scene_index": 27, "scene": "The mini table is at the center, with a bowl on its right. Cakes are on the left and front, black biscuits are at the back left, and triangle building blocks are scattered across the front, middle, and back positions, primarily on the right side. Mini chairs are positioned on the right, center, and front areas, while another set of mini chairs is also at the center."}
+{"scene_index": 28, "scene": "The mini table is at the center. Cakes are on the left and front right. The bowl is on the right. Black biscuits are at the back left. Mini chairs are at the center, right, and front. Triangle building blocks are at the front left, front right, back right, and back. Biscuits are also on the left and back left."}
+{"scene_index": 29, "scene": "Black biscuits are at the back left, the mini table is in the center front, cakes are on the front left and front right, a bowl is on the right side, mini chairs are in the center and on the right, triangle building blocks are on the back right, front left, and front right, building blocks are at the back, another set of mini chairs is at the front, biscuits are also at the back left, and the triangle building blocks are also on the back."}
+{"scene_index": 30, "scene": "The mini table is centered. The bowl is on the right. The black biscuits are at the front left. The mini chairs are on the right and center (x2), and one is at the front. The triangle building blocks are at the front left, front right, back right, and back. The cakes are at the front right and front."}
+{"scene_index": 31, "scene": "The mini table is in the center. The bowl is on the right. There are mini chairs at the back, right, and center positions. Cakes are placed on the front right, left, and front positions. Triangle building blocks are located on the front left and back right. Black biscuits are at the back left, and regular biscuits are on the left as well."}
+{"scene_index": 32, "scene": "The mini table is in the front. A bowl is on the right. Black biscuits are at the back left. Mini chairs are in the center, right, and front. Cakes are on the left, front right, and front. Triangle building blocks are in the front left, back right, and front right. Biscuits are on the left and back left."}
+{"scene_index": 33, "scene": "Mini table is in the front, bowl is on the right, black biscuits are at the back left, mini chairs are at the back, right, and center, triangle building blocks are at the front left, back right, and front right, cakes are on the left, front, and front right, another mini table is in the center, biscuits are at the left and back left, building blocks are at the back, and mini chairs are also at the front."}
+{"scene_index": 34, "scene": "The mini table is at the front, with cakes on its left and right sides; black biscuits are placed in the back-left and back-right corners; a bowl sits to the right of the arrangement; mini chairs are centered, one at the front and another at the right side; triangle building blocks are positioned in various locations around the setup."}
+{"scene_index": 35, "scene": "The mini table is at the front, with cakes positioned at the front right and front left. The bowl is on the right. Black biscuits are located in the back left. Mini chairs are placed at the right, center, front, and back. Triangle building blocks are situated at the front left, back right, front right, back, and triangle (singular) is at the back."}
+{"scene_index": 36, "scene": "mini table is at front. cakes are at left and front right. black biscuits are at back left. mini chairs are at center, right, and front. triangle building blocks are at front left, back right, and back. bowl is at right. biscuits are at left and back left. table is at center."}
+{"scene_index": 37, "scene": "The mini table is positioned at the front and center. Cakes are placed on the left front and front right. Black biscuits are located at the back left. A bowl is at the right. Mini chairs are positioned at the center right and front. Triangle building blocks are placed at the front left front right and back right. Building blocks are located at the back. Biscuits are also at the back left."}
+{"scene_index": 38, "scene": "The mini table is in the front and center positions, with biscuits on the back left. Black biscuits are also present at the back left, a bowl on the right, and several mini chairs located on the right, center, and front. Cakes are positioned across multiple locations including the left, front left, front right, and front. Triangle building blocks are spread throughout the space, specifically at front left, back right, front right, and back."}
+{"scene_index": 39, "scene": "The mini table is at the center, cakes are positioned to the left and front right, black biscuits are placed at the back left, a bowl is located on the right, mini chairs are arranged on the right, center, and front, and triangle building blocks can be found at the front left, back right, front right, and back."}
+{"scene_index": 40, "scene": "Mini Table is placed at the center. Black biscuits are located at back left and left positions. Bowl is positioned on the right. Mini chairs are placed on the right, front, and center. Triangle building blocks are located at front left, back right, front right, and back positions. Cakes are positioned at front right, front, and left."}
+{"scene_index": 41, "scene": "Cakes are positioned on the left and front right a bowl is on the right mini chairs are on the right center and front the mini table is in the center and front triangle building blocks are at the front left front right and back right black biscuits are at the front left and back left building blocks are at the back and a triangle is at the back."}
+{"scene_index": 42, "scene": "The mini table is in the front, the bowl is on the right, the mini chairs are in the center, black biscuits are at the back left, mini chairs are also on the right, cakes are on the left, mini chairs are again in the center, triangle building blocks are at the front left, triangle building blocks are also at the back right, black biscuits are at the front left, triangle building blocks are at the front right, cakes are at the front right, triangle building blocks are also at the back, cakes are again at the front, mini chairs are in the front as well, and biscuits are at the back left."}
+{"scene_index": 43, "scene": "The mini table is at the center, with mini chairs around it. Cakes are on the left and front sides, while biscuits are on the left and back left. Triangle building blocks are scattered across the front right, front left, back right, and back of the arrangement."}
+{"scene_index": 44, "scene": "Mini table is at the center. Black biscuits are at the back left. Bowl is on the right. Mini chairs are on the right and center (two instances). Cakes are at the left and front right. Building blocks are at the front left, back, and front right (three instances). Triangle building blocks are at the back right and front right. Biscuits are at the back left. Triangle is at the back."}
+{"scene_index": 45, "scene": "Mini Table is positioned in the center and Black Biscuits are positioned in the back left, while Cakes have multiple positions including Left, Front Right, and Front. The Bowl is positioned on the right, Triangle Building Blocks are placed in several locations such as Front Left, Back Right, and Front Right, and Mini Chairs have various placements including Center (x2), Right, and Front."}
+{"scene_index": 46, "scene": "Cakes are positioned at the front and front right; mini tables are in the center; a bowl is on the right; black biscuits are at the back left; mini chairs are placed on the right, center, and front; triangle building blocks are located at the front left, back right, front right, and back; and additional biscuits are at the back left and left."}
+{"scene_index": 47, "scene": "Black biscuits are at the back left. Mini chairs are positioned at the back, right, center, and front. A mini table is in front. A bowl is on the right. Cakes are located at the front right, front left, and front. Triangle building blocks are placed at the back right, front left, front right, and back."}
+{"scene_index": 48, "scene": "A mini table is centered, with a bowl on the right. Black biscuits are at the back left, and regular biscuits are also on the left. Cakes are positioned front right, front, and left. Triangle building blocks are located front left, back right, front right, back, and center. Mini chairs are placed in the center (multiple), right, and front positions."}
+{"scene_index": 49, "scene": "The mini table is front The bowl is right The mini chairs are right and center The black biscuits are back left and front left The triangle building blocks are front left back right front right and back The cakes are front right and front The mini chairs are front The triangle is back"}

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+{"subtask_index": 3, "subtask": "Grasp the small bowl of canned food with right gripper"}
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