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long_horizon/detergent/meta/episodes.jsonl

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long_horizon/detergent/meta/info.json

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+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
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+            "info": {
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+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}

long_horizon/detergent/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

long_horizon/detergent/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Place all the detergents into the basket."}
+{"task_index": 1, "task": "Put every detergent into the basket."}
+{"task_index": 2, "task": "Move all the detergents into the basket."}
+{"task_index": 3, "task": "Gather all the detergents into the basket."}
+{"task_index": 4, "task": "Put all of the detergents in the basket."}

long_horizon/fruit/meta/episodes.jsonl

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long_horizon/fruit/meta/info.json

@@ -0,0 +1,350 @@
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+}

long_horizon/fruit/meta/modality.json

@@ -0,0 +1,72 @@
+{
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+        }
+    }
+}

long_horizon/fruit/meta/tasks.jsonl

@@ -0,0 +1,5 @@
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long_horizon/microwave/meta/episodes.jsonl

@@ -0,0 +1,200 @@
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long_horizon/microwave/meta/info.json

@@ -0,0 +1,350 @@
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+}

long_horizon/microwave/meta/modality.json

@@ -0,0 +1,72 @@
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+}

long_horizon/microwave/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Heat the eggtart in the microwave."}
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+{"task_index": 3, "task": "Microwave the eggtart to heat it."}
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teleop_tasks/collect_coffee_beans/meta/episodes.jsonl

@@ -0,0 +1,400 @@
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teleop_tasks/collect_coffee_beans/meta/info.json

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+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}

teleop_tasks/collect_coffee_beans/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/collect_coffee_beans/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Put all the coffee beans into the jar and then close it with the lid."}
+{"task_index": 1, "task": "Place every coffee bean in the jar and put the lid on top."}
+{"task_index": 2, "task": "Put all of the coffee beans into the jar and cover it with the lid."}
+{"task_index": 3, "task": "Add all the coffee beans to the jar and then put the lid on it."}
+{"task_index": 4, "task": "Put the coffee beans into the jar and close the jar with the lid."}

teleop_tasks/flip_cup_collect_cookies/meta/episodes.jsonl

@@ -0,0 +1,400 @@
+{"episode_index": 0, "tasks": ["Flip the cup so that the opening faces upward, then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 1, "tasks": ["Flip the cup so that the opening faces upward, then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 2, "tasks": ["Flip the cup so that the opening faces upward, then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 3, "tasks": ["Flip the cup so that the opening faces upward, then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 4, "tasks": ["Turn the cup so its opening points upward, and then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 5, "tasks": ["Turn the cup so its opening points upward, and then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 6, "tasks": ["Turn the cup so its opening points upward, and then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 7, "tasks": ["Turn the cup so its opening points upward, and then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 8, "tasks": ["Rotate the cup until the opening is facing up, then pour every cookie into the bowl."], "length": 3324}
+{"episode_index": 9, "tasks": ["Rotate the cup until the opening is facing up, then pour every cookie into the bowl."], "length": 3324}
+{"episode_index": 10, "tasks": ["Rotate the cup until the opening is facing up, then pour every cookie into the bowl."], "length": 3324}
+{"episode_index": 11, "tasks": ["Rotate the cup until the opening is facing up, then pour every cookie into the bowl."], "length": 3324}
+{"episode_index": 12, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 13, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 14, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 15, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 16, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 3324}
+{"episode_index": 17, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 3324}
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+{"episode_index": 368, "tasks": ["Rotate the cup until the opening is facing up, then pour every cookie into the bowl."], "length": 2747}
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+{"episode_index": 372, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 2747}
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+{"episode_index": 393, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 2724}
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+{"episode_index": 395, "tasks": ["Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."], "length": 2724}
+{"episode_index": 396, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 2724}
+{"episode_index": 397, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 2724}
+{"episode_index": 398, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 2724}
+{"episode_index": 399, "tasks": ["Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."], "length": 2724}

teleop_tasks/flip_cup_collect_cookies/meta/info.json

@@ -0,0 +1,350 @@
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+}

teleop_tasks/flip_cup_collect_cookies/meta/modality.json

@@ -0,0 +1,72 @@
+{
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+}

teleop_tasks/flip_cup_collect_cookies/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Flip the cup so that the opening faces upward, then pour all the cookies into the bowl."}
+{"task_index": 1, "task": "Turn the cup so its opening points upward, and then pour all the cookies into the bowl."}
+{"task_index": 2, "task": "Rotate the cup until the opening is facing up, then pour every cookie into the bowl."}
+{"task_index": 3, "task": "Flip the cup so the opening is upward, and after that pour all the cookies into the bowl."}
+{"task_index": 4, "task": "Turn the cup so that the open side faces upward, then pour all the cookies into the bowl."}

teleop_tasks/frame_against_pen_holder/meta/episodes.jsonl

@@ -0,0 +1,400 @@
+{"episode_index": 0, "tasks": ["Stand the picture frame upright on the table with its back against the cup."], "length": 1529}
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+{"episode_index": 6, "tasks": ["Place the picture frame upright on the table so that its back rests against the cup."], "length": 1529}
+{"episode_index": 7, "tasks": ["Place the picture frame upright on the table so that its back rests against the cup."], "length": 1529}
+{"episode_index": 8, "tasks": ["Set the picture frame standing upright on the table with the back touching the cup."], "length": 1529}
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teleop_tasks/frame_against_pen_holder/meta/info.json

@@ -0,0 +1,350 @@
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+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}

teleop_tasks/frame_against_pen_holder/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/frame_against_pen_holder/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Stand the picture frame upright on the table with its back against the cup."}
+{"task_index": 1, "task": "Place the picture frame upright on the table so that its back rests against the cup."}
+{"task_index": 2, "task": "Set the picture frame standing upright on the table with the back touching the cup."}
+{"task_index": 3, "task": "Position the picture frame upright on the table and lean its back against the cup."}
+{"task_index": 4, "task": "Put the picture frame upright on the table so that the back of the frame is against the cup."}

teleop_tasks/install_gear/meta/episodes.jsonl

@@ -0,0 +1,400 @@
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teleop_tasks/install_gear/meta/info.json

@@ -0,0 +1,350 @@
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+            "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
+        }
+    }
+}

teleop_tasks/install_gear/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/install_gear/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Install the gear in the appropriate position."}
+{"task_index": 1, "task": "Place the gear in the correct position for installation."}
+{"task_index": 2, "task": "Set the gear into its proper position."}
+{"task_index": 3, "task": "Mount the gear in the correct location."}
+{"task_index": 4, "task": "Fit the gear into the appropriate position."}

teleop_tasks/peg_in_hole/meta/episodes.jsonl

@@ -0,0 +1,400 @@
+{"episode_index": 0, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1561}
+{"episode_index": 1, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1561}
+{"episode_index": 2, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1561}
+{"episode_index": 3, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1561}
+{"episode_index": 4, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1561}
+{"episode_index": 5, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1561}
+{"episode_index": 6, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1561}
+{"episode_index": 7, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1561}
+{"episode_index": 8, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1561}
+{"episode_index": 9, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1561}
+{"episode_index": 10, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1561}
+{"episode_index": 11, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1561}
+{"episode_index": 12, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1561}
+{"episode_index": 13, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1561}
+{"episode_index": 14, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1561}
+{"episode_index": 15, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1561}
+{"episode_index": 16, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1561}
+{"episode_index": 17, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1561}
+{"episode_index": 18, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1561}
+{"episode_index": 19, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1561}
+{"episode_index": 20, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1640}
+{"episode_index": 21, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1640}
+{"episode_index": 22, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1640}
+{"episode_index": 23, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1640}
+{"episode_index": 24, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1640}
+{"episode_index": 25, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1640}
+{"episode_index": 26, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1640}
+{"episode_index": 27, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1640}
+{"episode_index": 28, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1640}
+{"episode_index": 29, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1640}
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+{"episode_index": 31, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1640}
+{"episode_index": 32, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1640}
+{"episode_index": 33, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1640}
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+{"episode_index": 35, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1640}
+{"episode_index": 36, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1640}
+{"episode_index": 37, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1640}
+{"episode_index": 38, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1640}
+{"episode_index": 39, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1640}
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+{"episode_index": 44, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1599}
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+{"episode_index": 363, "tasks": ["Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."], "length": 1651}
+{"episode_index": 364, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1651}
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+{"episode_index": 384, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1540}
+{"episode_index": 385, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1540}
+{"episode_index": 386, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1540}
+{"episode_index": 387, "tasks": ["Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."], "length": 1540}
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+{"episode_index": 389, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1540}
+{"episode_index": 390, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1540}
+{"episode_index": 391, "tasks": ["Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."], "length": 1540}
+{"episode_index": 392, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1540}
+{"episode_index": 393, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1540}
+{"episode_index": 394, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1540}
+{"episode_index": 395, "tasks": ["Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."], "length": 1540}
+{"episode_index": 396, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1540}
+{"episode_index": 397, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1540}
+{"episode_index": 398, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1540}
+{"episode_index": 399, "tasks": ["Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."], "length": 1540}

teleop_tasks/peg_in_hole/meta/info.json

@@ -0,0 +1,350 @@
+{
+    "codebase_version": "v2.1",
+    "robot_type": "lift2",
+    "total_episodes": 400,
+    "total_frames": 666360,
+    "total_tasks": 5,
+    "total_videos": 1600,
+    "total_chunks": 1,
+    "chunks_size": 1000,
+    "fps": 15,
+    "splits": {
+        "train": "0:400"
+    },
+    "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": {
+        "state.joints": {
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+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "action.joints_delta": {
+            "dtype": "float32",
+            "shape": [
+                12
+            ],
+            "names": [
+                [
+                    "joint_0",
+                    "joint_1",
+                    "joint_2",
+                    "joint_3",
+                    "joint_4",
+                    "joint_5",
+                    "joint_6",
+                    "joint_7",
+                    "joint_8",
+                    "joint_9",
+                    "joint_10",
+                    "joint_11"
+                ]
+            ]
+        },
+        "state.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "action.gripper": {
+            "dtype": "float32",
+            "shape": [
+                4
+            ],
+            "names": [
+                [
+                    "gripper_1_left",
+                    "gripper_1_right",
+                    "gripper_2_left",
+                    "gripper_2_right"
+                ]
+            ]
+        },
+        "state.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "action.ee_pose_delta": {
+            "dtype": "float32",
+            "shape": [
+                14
+            ],
+            "names": [
+                [
+                    "ee0_x",
+                    "ee0_y",
+                    "ee0_z",
+                    "ee0_qw",
+                    "ee0_qx",
+                    "ee0_qy",
+                    "ee0_qz",
+                    "ee1_x",
+                    "ee1_y",
+                    "ee1_z",
+                    "ee1_qw",
+                    "ee1_qx",
+                    "ee1_qy",
+                    "ee1_qz"
+                ]
+            ]
+        },
+        "state.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "action.base_delta": {
+            "dtype": "float32",
+            "shape": [
+                3
+            ],
+            "names": [
+                [
+                    "base_x",
+                    "base_y",
+                    "base_theta"
+                ]
+            ]
+        },
+        "video.top_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.left_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.right_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "video.overlook_camera_view": {
+            "dtype": "video",
+            "shape": [
+                3,
+                480,
+                640
+            ],
+            "names": [
+                "channels",
+                "height",
+                "width"
+            ],
+            "info": {
+                "video.height": 480,
+                "video.width": 640,
+                "video.codec": "av1",
+                "video.pix_fmt": "yuv420p",
+                "video.is_depth_map": false,
+                "video.fps": 15,
+                "video.channels": 3,
+                "has_audio": false
+            }
+        },
+        "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
+        }
+    }
+}

teleop_tasks/peg_in_hole/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/peg_in_hole/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Pick up the peg and the hole simultaneously, insert the peg into the hole, and place them back on the table."}
+{"task_index": 1, "task": "Lift the peg and the hole at the same time, put the peg into the hole, and then set them back on the table."}
+{"task_index": 2, "task": "Pick up both the peg and the hole together, insert the peg into the hole, and return them to the table."}
+{"task_index": 3, "task": "Raise the peg and the hole simultaneously, place the peg into the hole, and put them back on the table."}
+{"task_index": 4, "task": "Grab the peg and the hole at the same time, insert the peg into the hole, and place them back onto the table."}

teleop_tasks/put_glass_in_glassbox/meta/episodes.jsonl

@@ -0,0 +1,400 @@
+{"episode_index": 0, "tasks": ["Please put the glass into the glass box carefully."], "length": 2464}
+{"episode_index": 1, "tasks": ["Please put the glass into the glass box carefully."], "length": 2464}
+{"episode_index": 2, "tasks": ["Please put the glass into the glass box carefully."], "length": 2464}
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teleop_tasks/put_glass_in_glassbox/meta/info.json

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teleop_tasks/put_glass_in_glassbox/meta/modality.json

@@ -0,0 +1,72 @@
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+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/put_glass_in_glassbox/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Please put the glass into the glass box carefully."}
+{"task_index": 1, "task": "Carefully place the glass into the glass box."}
+{"task_index": 2, "task": "Gently put the glass into the glass box."}
+{"task_index": 3, "task": "Place the glass into the glass box with care."}
+{"task_index": 4, "task": "Carefully set the glass inside the glass box."}

teleop_tasks/tighten_nut/meta/episodes.jsonl

@@ -0,0 +1,400 @@
+{"episode_index": 0, "tasks": ["Screw the nut onto the bolt."], "length": 1699}
+{"episode_index": 1, "tasks": ["Screw the nut onto the bolt."], "length": 1699}
+{"episode_index": 2, "tasks": ["Screw the nut onto the bolt."], "length": 1699}
+{"episode_index": 3, "tasks": ["Screw the nut onto the bolt."], "length": 1699}
+{"episode_index": 4, "tasks": ["Thread the nut onto the bolt."], "length": 1699}
+{"episode_index": 5, "tasks": ["Thread the nut onto the bolt."], "length": 1699}
+{"episode_index": 6, "tasks": ["Thread the nut onto the bolt."], "length": 1699}
+{"episode_index": 7, "tasks": ["Thread the nut onto the bolt."], "length": 1699}
+{"episode_index": 8, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1699}
+{"episode_index": 9, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1699}
+{"episode_index": 10, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1699}
+{"episode_index": 11, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1699}
+{"episode_index": 12, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1699}
+{"episode_index": 13, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1699}
+{"episode_index": 14, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1699}
+{"episode_index": 15, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1699}
+{"episode_index": 16, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1699}
+{"episode_index": 17, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1699}
+{"episode_index": 18, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1699}
+{"episode_index": 19, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1699}
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+{"episode_index": 21, "tasks": ["Screw the nut onto the bolt."], "length": 1724}
+{"episode_index": 22, "tasks": ["Screw the nut onto the bolt."], "length": 1724}
+{"episode_index": 23, "tasks": ["Screw the nut onto the bolt."], "length": 1724}
+{"episode_index": 24, "tasks": ["Thread the nut onto the bolt."], "length": 1724}
+{"episode_index": 25, "tasks": ["Thread the nut onto the bolt."], "length": 1724}
+{"episode_index": 26, "tasks": ["Thread the nut onto the bolt."], "length": 1724}
+{"episode_index": 27, "tasks": ["Thread the nut onto the bolt."], "length": 1724}
+{"episode_index": 28, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1724}
+{"episode_index": 29, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1724}
+{"episode_index": 30, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1724}
+{"episode_index": 31, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1724}
+{"episode_index": 32, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1724}
+{"episode_index": 33, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1724}
+{"episode_index": 34, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1724}
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+{"episode_index": 38, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1724}
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+{"episode_index": 45, "tasks": ["Thread the nut onto the bolt."], "length": 1406}
+{"episode_index": 46, "tasks": ["Thread the nut onto the bolt."], "length": 1406}
+{"episode_index": 47, "tasks": ["Thread the nut onto the bolt."], "length": 1406}
+{"episode_index": 48, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1406}
+{"episode_index": 49, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1406}
+{"episode_index": 50, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1406}
+{"episode_index": 51, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1406}
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+{"episode_index": 53, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1406}
+{"episode_index": 54, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1406}
+{"episode_index": 55, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1406}
+{"episode_index": 56, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1406}
+{"episode_index": 57, "tasks": ["Twist the nut onto the bolt to attach it."], "length": 1406}
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+{"episode_index": 61, "tasks": ["Screw the nut onto the bolt."], "length": 1391}
+{"episode_index": 62, "tasks": ["Screw the nut onto the bolt."], "length": 1391}
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+{"episode_index": 64, "tasks": ["Thread the nut onto the bolt."], "length": 1391}
+{"episode_index": 65, "tasks": ["Thread the nut onto the bolt."], "length": 1391}
+{"episode_index": 66, "tasks": ["Thread the nut onto the bolt."], "length": 1391}
+{"episode_index": 67, "tasks": ["Thread the nut onto the bolt."], "length": 1391}
+{"episode_index": 68, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1391}
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+{"episode_index": 74, "tasks": ["Fasten the nut onto the bolt by screwing it on."], "length": 1391}
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+{"episode_index": 90, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1599}
+{"episode_index": 91, "tasks": ["Turn the nut onto the bolt until it is secured."], "length": 1599}
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+{"episode_index": 123, "tasks": ["Screw the nut onto the bolt."], "length": 1565}
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+{"episode_index": 127, "tasks": ["Thread the nut onto the bolt."], "length": 1565}
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teleop_tasks/tighten_nut/meta/info.json

@@ -0,0 +1,350 @@
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+}

teleop_tasks/tighten_nut/meta/modality.json

@@ -0,0 +1,72 @@
+{
+    "action": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "action.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "action.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "action.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "action.gripper"
+        },
+        "base_delta": {
+            "start": 0,
+            "end": 3,
+            "original_key": "action.base_delta"
+        }
+    },
+    "state": {
+        "left_joints": {
+            "start": 0,
+            "end": 6,
+            "original_key": "state.joints"
+        },
+        "right_joints": {
+            "start": 6,
+            "end": 12,
+            "original_key": "state.joints"
+        },
+        "left_gripper": {
+            "start": 0,
+            "end": 2,
+            "original_key": "state.gripper"
+        },
+        "right_gripper": {
+            "start": 2,
+            "end": 4,
+            "original_key": "state.gripper"
+        },
+        "base": {
+            "start": 0,
+            "end": 3,
+            "original_key": "state.base"
+        }
+    },
+    "video": {
+        "cam_high": {
+            "original_key": "video.top_camera_view"
+        },
+        "cam_left_wrist": {
+            "original_key": "video.left_camera_view"
+        },
+        "cam_right_wrist": {
+            "original_key": "video.right_camera_view"
+        }
+    },
+    "annotation": {
+        "human.action.task_description": {
+            "original_key": "task_index"
+        }
+    }
+}

teleop_tasks/tighten_nut/meta/tasks.jsonl

@@ -0,0 +1,5 @@
+{"task_index": 0, "task": "Screw the nut onto the bolt."}
+{"task_index": 1, "task": "Thread the nut onto the bolt."}
+{"task_index": 2, "task": "Turn the nut onto the bolt until it is secured."}
+{"task_index": 3, "task": "Fasten the nut onto the bolt by screwing it on."}
+{"task_index": 4, "task": "Twist the nut onto the bolt to attach it."}