Copy AIRBOT_MMK2_diamond_storage into RoboCOIN_useable

AIRBOT_MMK2_diamond_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_diamond_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: 1K-10K
+
+license: apache-2.0
+
+configs:
+- config_name: default
+  data_files: data/*/*.parquet
+---
+
+# AIRBOT_MMK2_diamond_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`
+- `cover`
+
+
+## 📊 Dataset Statistics
+
+| Metric | Value |
+|--------|-------|
+| **Total Episodes** | 50 |
+| **Total Frames** | 9131 |
+| **Total Tasks** | 1 |
+| **Total Videos** | 200 |
+| **Total Chunks** | 1 |
+| **Chunk Size** | 1000 |
+| **FPS** | 30 |
+| **Dataset Size** | 426.8MB |
+
+
+## 👥 Authors
+
+### Contributors
+This dataset is contributed by:
+- [RoboCOIN](https://flagopen.github.io/RoboCOIN/) - RoboCOIN Team
+
+
+## 🔗 Links
+
+- **🏠 Homepage:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **📄 Paper:** [https://arxiv.org/abs/2511.17441](https://arxiv.org/abs/2511.17441)
+- **💻 Repository:** [https://github.com/FlagOpen/RoboCOIN](https://github.com/FlagOpen/RoboCOIN)
+- **🌐 Project Page:** [https://flagopen.github.io/RoboCOIN/](https://flagopen.github.io/RoboCOIN/)
+- **🐛 Issues:** [https://github.com/FlagOpen/RoboCOIN/issues](https://github.com/FlagOpen/RoboCOIN/issues)
+- **📜 License:** apache-2.0
+
+## 🏷️ Dataset Tags
+
+- `RoboCOIN`
+- `LeRobot`
+
+
+## 🎯 Task Descriptions
+
+### Primary Tasks
+Pick up the diamond and put it into the box, then close the lid.
+
+### Sub-Tasks
+This dataset includes 5 distinct subtasks:
+
+1. **End** 
+2. **Place the diamond ring in the box with the right gripper** 
+3. **Close the lid of the box with the left gripper** 
+4. **Grasp the diamond ring with the 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": 9131, "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_diamond_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_diamond_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_diamond_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_diamond_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_diamond_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_diamond_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_diamond_storage/annotations/scene_annotations.jsonl

@@ -0,0 +1,50 @@
+{"scene_index": 0, "scene": "Big box is in the front left. Green biscuit is at the back left. Transparent tape is at the back. Orange building blocks are in the front left. Yellow biscuit is at the back right. Black biscuit is at the front right. Diamond ring is on the right. Diamond is in the front right."}
+{"scene_index": 1, "scene": "The big box is in the center; the green biscuit is at the back left; the transparent tape is at the front right; the black biscuit is at the back; the yellow biscuit is at the back right; the orange building blocks are at the front left; two diamond rings are both on the right."}
+{"scene_index": 2, "scene": "The big box is positioned at the front left, the green biscuit is positioned at the back left, the transparent tape is positioned at the back location unspecified, the yellow biscuit is positioned at the back right, the orange building blocks are positioned at the front left, the black biscuit is positioned at the front right, and the diamond ring is positioned on the right."}
+{"scene_index": 3, "scene": "The big box is at the front left. The green biscuit is at the back left. The transparent tape is at the back. The yellow biscuit is at the back right. The orange building blocks are at the front left. The black biscuit and the diamond ring are both at the front right. Another diamond ring is on the right side."}
+{"scene_index": 4, "scene": "The big box is at the front left, with orange building blocks also there. A transparent tape is at the back. The green biscuit is at the back left, while the yellow biscuit is at the back right. At the front right, there s a black biscuit and another diamond ring; a diamond ring is also on the right side."}
+{"scene_index": 5, "scene": "The big box is on the left, with green and black biscuits in the back left and back positions respectively, a transparent tape in front right, orange building blocks in front left, and two diamond rings on the right."}
+{"scene_index": 6, "scene": "The big box is on the left, with the green biscuit at the back left, the orange building blocks at the front left, and the black biscuit at the back. The transparent tape is in the front right, while the yellow biscuit and two diamond rings are both located on the right side."}
+{"scene_index": 7, "scene": "The big box is at the center, with green and yellow biscuits positioned at the back corners (left and right), a black biscuit at the back, transparent tape at the front right, orange building blocks at the front left, and the diamond ring on the right."}
+{"scene_index": 8, "scene": "Green biscuit: Back left. Transparent tape: Back. Yellow biscuit: Back right. Black biscuit: Front right. Diamond ring: Front right and Right. Big box orange building blocks: Front left. Orange building blocks: Front left."}
+{"scene_index": 9, "scene": "The big box is at front left; the green biscuit is at back left; the transparent tape is at back; the orange building blocks are at front left; the yellow biscuit is at back right; the black biscuit is at front right; and the diamond ring is on the right."}
+{"scene_index": 10, "scene": "The big box is at the center, the green biscuit is at the back left, the transparent tape is at the front right, the orange building blocks are at the front left, the black biscuit is at the back, the yellow biscuit is at the back right, and the two diamond rings are both on the right."}
+{"scene_index": 11, "scene": "The big box is positioned front left. The green biscuit is positioned back left. The transparent tape is positioned back. The orange building blocks are positioned front left and placed alongside the big box. The yellow biscuit is positioned back right. The diamond ring is positioned right. The black biscuit is positioned front right. Each object's position and relationship are listed without additional context or connections between them."}
+{"scene_index": 12, "scene": "The big box is at the front, the green biscuit is at the back left, the transparent tape is at the front right, the black biscuit is at the back, the yellow biscuit is at the back right, the diamond ring and the diamond are both on the right."}
+{"scene_index": 13, "scene": "big box positioned at front left green biscuit positioned at back left transparent tape positioned at back orange building blocks positioned at front left yellow biscuit positioned at back right black biscuit positioned at front right diamond ring positioned at right"}
+{"scene_index": 14, "scene": "Big box is at the front, green biscuit is at the back left, transparent tape is at the back, yellow biscuit is at the back right, orange building blocks are at the front left, diamond ring is on the right and front right, black biscuit is at the front right."}
+{"scene_index": 15, "scene": "The big box is at the front. The green biscuit is in the back left. The transparent tape is on the front right. The orange building blocks are on the front left. The black biscuit is in the back. The yellow biscuit is at the back right. The diamond ring is on the right."}
+{"scene_index": 16, "scene": "The big box is on the front left, the green biscuit is on the back left, the transparent tape is on the back, the orange building blocks are on the front left, the yellow biscuit is on the back right, the black biscuit is on the front right, and the diamond ring is on the front right."}
+{"scene_index": 17, "scene": "The big box is on the left; behind it are the green biscuit and orange building blocks. The transparent tape is in front of the orange building blocks on the front right side. The black biscuit is at the back, while the yellow biscuit is back right. On the right, there s a diamond next to the diamond ring."}
+{"scene_index": 18, "scene": "The big box is on the left, with the green biscuit behind it on the back left, and the black biscuit behind it. The orange building blocks are in front of the big box on the front left, while the transparent tape is at the front right. The yellow biscuit is at the back right, and the diamond ring is on the right side."}
+{"scene_index": 19, "scene": "The big box is on the left, with the green biscuit at the back left, the black biscuit behind it, and the yellow biscuit at the back right. The orange building blocks are in front of the left side, and the transparent tape is at the front right. The diamond ring is on the right."}
+{"scene_index": 20, "scene": "Big box at front left; green biscuit at back left; transparent tape at back; yellow biscuit at back right; orange building blocks at front left; diamond ring at right; black biscuit at front right."}
+{"scene_index": 21, "scene": "The big box is on the left, with a green biscuit at the back left, a yellow biscuit at the back right, and a black biscuit at the back. In front, an orange building block is on the left, while transparent tape is on the front right. A diamond ring is on the right."}
+{"scene_index": 22, "scene": "The green biscuit is at the back left, the transparent tape is at the front right, the yellow biscuit is at the back right, the orange building blocks are at the front left, the black biscuit is at the back, the big box is in the center, and the diamond ring is on the right and front right."}
+{"scene_index": 23, "scene": "The big box is on the left side; the green biscuit is located at the back-left area; the transparent tape is placed in the front-right section; the black biscuit is situated at the back; the orange building blocks are positioned in the front-left area; the yellow biscuit is placed at the back-right spot; and the diamond ring is located on the right side."}
+{"scene_index": 24, "scene": "big box is front left green biscuit is back left yellow biscuit is back right transparent tape is back black biscuit is front right orange building blocks are front left diamond ring is front right."}
+{"scene_index": 25, "scene": "The big box is at front left, the green biscuit is at back left, the transparent tape is at back, the yellow biscuit is at back right, the orange building blocks are at front left, the black biscuit and diamond ring are both at front right and right respectively."}
+{"scene_index": 26, "scene": "Green biscuit is at the back left, big box is at the front left, transparent tape is at the back, yellow biscuit is at the back right, diamond ring is on the right, orange building blocks are at the front left, black biscuit is at the front right."}
+{"scene_index": 27, "scene": "The big box is at the front left, with orange building blocks also there. The green biscuit and transparent tape are both in the back, but the green biscuit is on the left while the tape is centered. A yellow biscuit is at the back right, a black biscuit is at the front right, and the diamond ring is positioned on the right side."}
+{"scene_index": 28, "scene": "Big box is at front left; green biscuit is at back left; orange building blocks are at front left; transparent tape is at front right; yellow biscuit is at back right corner; black biscuit is at back; diamond ring is on the right side."}
+{"scene_index": 29, "scene": "The green biscuit is at the back left, the yellow biscuit is at the back right, the big box is at the front left, the transparent tape is at the back, the orange building blocks are at the front left, the black biscuit and a diamond ring are both at the front right, and another diamond ring is at the right."}
+{"scene_index": 30, "scene": "The big box is on the left, with the green biscuit at the back left and the black biscuit at the back. The transparent tape is in front of the right side, while the orange building blocks are positioned in front of the left area. On the right, there are three diamond rings placed together, and the yellow biscuit is located at the back right."}
+{"scene_index": 31, "scene": "The big box is in the front left, with the orange building blocks also there. The green biscuit is at the back left, sharing space with the transparent tape in the back. The yellow biscuit and black biscuit are positioned at the back right and front right respectively. The diamond ring is on the right side."}
+{"scene_index": 32, "scene": "The big box is at the front. The green biscuit is at the back left. The transparent tape is at the front right. The black biscuit is at the back. The orange building blocks are at the front left. The yellow biscuit is at the back right. The diamond ring is on the right."}
+{"scene_index": 33, "scene": "The green biscuit is at the back left, the transparent tape is in the back, the yellow biscuit is at the back right, the diamond ring is on the right, the black biscuit is at the front right, the orange building blocks are at the front left, and the big box is in the front."}
+{"scene_index": 34, "scene": "The big box is on the left; the green biscuit is at the back left; the transparent tape is in the front right; the black biscuit is at the back; the orange building blocks are in the front left; the yellow biscuit is at the back right; and the diamond ring is on the right."}
+{"scene_index": 35, "scene": "The green biscuit is in the back left, the transparent tape is behind everything, the yellow biscuit is in the back right, the big box and orange building blocks are both in the front left, the diamond ring is on the right side, the black biscuit is in the front right, and there are additional blocks also in the front left."}
+{"scene_index": 36, "scene": "The big box is on the left. The green biscuit is at the back left. The transparent tape is in the front right. The orange building blocks are in the front left. The black biscuit is at the back. The yellow biscuit is at the back right. There are two diamond rings, both on the right."}
+{"scene_index": 37, "scene": "The big box is on the front left, the green biscuit is on the back left, the transparent tape is on the back center or back unspecified position, the yellow biscuit is on the back right, the black biscuit is on the front right, the diamond ring is on the right side likely near the front based on typical placement, the diamond is on the front right same as black biscuit s position but likely a separate object, the orange building blocks are on the front left."}
+{"scene_index": 38, "scene": "The big box is on the left. The green biscuit is behind and to the left of the big box. The transparent tape is in front and to the right of the big box. The orange building blocks are in front and to the left of the big box. The yellow biscuit is behind and to the far right of the big box. The black biscuit is behind the big box but not specified as to the exact position relative to others. The diamond ring is on the right side, likely near or next to the transparent tape."}
+{"scene_index": 39, "scene": "The big box is located at front left, green biscuit is located at back left, transparent tape is located at front right, orange building blocks are located at front left, black biscuit is located at back, yellow biscuit is located at back right, diamond ring is located at right, and another diamond ring is also located at right."}
+{"scene_index": 40, "scene": "The big box is at the center. The green biscuit and black biscuit are at the back left and back respectively, while the yellow biscuit is at the back right. The transparent tape is in front right, and the orange building blocks are in front left. The diamond ring is on the right side."}
+{"scene_index": 41, "scene": "The big box and orange building blocks are both at the front left. The green biscuit is at the back left, while the yellow biscuit is at the back right. The black biscuit is at the front right, the transparent tape is at the back, and the diamond ring is on the right side."}
+{"scene_index": 42, "scene": "The green biscuit is at the back left, and the black biscuit is at the back without a specified side. The orange building blocks are at the front left, and the big box is in front of them. The transparent tape is at the front right. There are two diamond rings on the right side, with no additional details provided about their specific positions relative to each other."}
+{"scene_index": 43, "scene": "Big box is at the center, green biscuit is at the back left, transparent tape is at the front right, orange building blocks are at the front left, yellow biscuit is at the back right, black biscuit is at the back, diamond ring is on the right side, diamond is at the front right."}
+{"scene_index": 44, "scene": "Big box is located at the front left, green biscuit is at the back left, transparent tape is positioned at the back, orange building blocks are at the front left, yellow biscuit is at the back right, black biscuit is at the front right, and diamond ring is on the right and front right."}
+{"scene_index": 45, "scene": "The big box is at the front. The green biscuit is at the back left. The transparent tape is at the back. The orange building blocks are at the front left. The yellow biscuit is at the back right. The diamond ring is at the front right. The black biscuit is also at the front right."}
+{"scene_index": 46, "scene": "Big box is positioned at front left, green biscuit is positioned at back left, transparent tape is positioned at back, orange building blocks are positioned at front left, yellow biscuit is positioned at back right, diamond ring is positioned at front right, and black is positioned at front left."}
+{"scene_index": 47, "scene": "The green biscuit is at the back left, while the transparent tape is behind it. The yellow biscuit is positioned at the back right, and the black biscuit is in front of it on the right side. The big box and orange building blocks are both at the front left, There are two diamond rings placed together at the front right."}
+{"scene_index": 48, "scene": "The big box is on the left. The green biscuit is at the back left. The transparent tape is at the front right. The black biscuit is at the back. The orange building blocks are at the front left. The yellow biscuit is at the back right. There are two diamond rings, both located on the right."}
+{"scene_index": 49, "scene": "The big box is positioned at front left. The green biscuit is positioned at back left. The yellow biscuit is positioned at back right. The transparent tape is positioned at back. The orange building blocks are positioned at front left. The black biscuit is positioned at front right. The diamond ring is positioned at front right and also at right."}

AIRBOT_MMK2_diamond_storage/annotations/subtask_annotations.jsonl

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+{"subtask_index": 0, "subtask": "End"}
+{"subtask_index": 1, "subtask": "Place the diamond ring in the box with the right gripper"}
+{"subtask_index": 2, "subtask": "Close the lid of the box with the left gripper"}
+{"subtask_index": 3, "subtask": "Grasp the diamond ring with the right gripper"}
+{"subtask_index": 4, "subtask": "null"}

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