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"collector_name": "pengpeng", "collection_time": "2026-09-10 18:14:16", "frame_labels": {"skill": {"skill_sequence": ["astrabot_xr1.pick_up_batter_spoon_12345678", "astrabot_xr1.scoop_specified_amount_of_batter_12345678", "astrabot_xr1.pour_batter_into_pan_12345678", "astrabot_xr1.put_down_batter_spoon_12345678", "astrabot_xr1.pick_up_topping_spoon_12345678", "astrabot_xr1.scoop_peanuts_and_hawthorn_12345678", "astrabot_xr1.sprinkle_peanuts_and_hawthorn_12345678", "astrabot_xr1.put_down_topping_spoon_12345678"], "skill_quality": ["smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth"], "breakpoints": [152, 322, 583, 772, 870, 991, 1199]}}} +{"episode_index": 30, "tasks": ["astrabot_xr1:egg_sponge_cake"], "length": 1385, "robot_type": "Astrabot", "quality": "smooth", "collector_name": "pengpeng", "collection_time": "2026-09-10 18:16:51", "frame_labels": {"skill": {"skill_sequence": ["astrabot_xr1.pick_up_batter_spoon_12345678", 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"fps": 15, + "splits": { + "train": "0:31" + }, + "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", + "depth_path": null, + "features": { + "observation_images_left_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation_images_right_wrist": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation_images_head": { + "dtype": "video", + "shape": [ + 480, + 640, + 3 + ], + "names": [ + "height", + "width", + "channel" + ] + }, + "observation_states_joint_angle_left": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation_states_joint_angle_right": { + "dtype": "float32", + "shape": [ + 7 + ], + "names": null + }, + "observation_states_joint_angle_head": { + "dtype": "float32", + 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"shape": [ + 3 + ], + "names": null + }, + "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 + }, + "task_id": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + }, + "skill_id": { + "dtype": "string", + "shape": [ + 1 + ], + "names": null + } + }, + "skills": { + "Pick up with ": { + "episode_nums": 31, + "num_of_frames": 4714 + }, + "Scoop the specified amount of with ": { + "episode_nums": 31, + "num_of_frames": 4862 + }, + "Pour from into ": { + "episode_nums": 31, + "num_of_frames": 10533 + }, + "Put down on the ": { + "episode_nums": 31, + "num_of_frames": 5638 + }, + "Pick up with ": { + "episode_nums": 31, + "num_of_frames": 3532 + }, + "Scoop a spoonful of and with ": { + "episode_nums": 31, + "num_of_frames": 4981 + }, + "Sprinkle and onto ": { + "episode_nums": 31, + "num_of_frames": 6822 + }, + "Put down on the ": { + "episode_nums": 31, + "num_of_frames": 3705 + } + } +} \ No newline at end of file diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_batter_spoon_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_batter_spoon_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..cc425e78f46febf1234754f1602bc21cca245dc8 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_batter_spoon_12345678.yaml @@ -0,0 +1,19 @@ +arguments: + objects_grounding: + batter_spoon: the batter spoon + right_hand: the right robot gripper + surface: the work surface +grounded: true +initial_condition: ( is on the ) AND ( is empty) +instruction: Pick up with +metadata: + author: codex + original_skill_id: astrabot_xr1.pick_up_batter_spoon + tags: + - pick + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Pick up the batter spoon +skill_id: astrabot_xr1.pick_up_batter_spoon_12345678 +terminal_conditions_set: ( is in the ) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_topping_spoon_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_topping_spoon_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6b00a42c3417a6cbf29819c179359ca7630b5d45 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pick_up_topping_spoon_12345678.yaml @@ -0,0 +1,19 @@ +arguments: + objects_grounding: + topping_spoon: the topping spoon + right_hand: the right robot gripper + surface: the work surface +grounded: true +initial_condition: ( is on the ) AND ( is empty) +instruction: Pick up with +metadata: + author: codex + original_skill_id: astrabot_xr1.pick_up_topping_spoon + tags: + - pick + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Pick up the topping spoon +skill_id: astrabot_xr1.pick_up_topping_spoon_12345678 +terminal_conditions_set: ( is in the ) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pour_batter_into_pan_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pour_batter_into_pan_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..237586d4a9a6b75bd5226e10f458be76ee39c761 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.pour_batter_into_pan_12345678.yaml @@ -0,0 +1,20 @@ +arguments: + objects_grounding: + batter: the batter + batter_spoon: the batter spoon + pan: the small frying pan + right_hand: the right robot gripper +grounded: true +initial_condition: ( is on ) AND ( is in the ) AND ( is on the stove) +instruction: Pour from into +metadata: + author: codex + original_skill_id: astrabot_xr1.pour_batter_into_pan + tags: + - pour + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Pour the batter into the small frying pan +skill_id: astrabot_xr1.pour_batter_into_pan_12345678 +terminal_conditions_set: ( is in ) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_batter_spoon_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_batter_spoon_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..983b78194d589e1ff6ed1d1b2e32ddc4c7d7ad1e --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_batter_spoon_12345678.yaml @@ -0,0 +1,19 @@ +arguments: + objects_grounding: + batter_spoon: the batter spoon + right_hand: the right robot gripper + surface: the work surface +grounded: true +initial_condition: ( is in the ) +instruction: Put down on the +metadata: + author: codex + original_skill_id: astrabot_xr1.put_down_batter_spoon + tags: + - place + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Put down the batter spoon +skill_id: astrabot_xr1.put_down_batter_spoon_12345678 +terminal_conditions_set: ( is on the ) AND ( is empty) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_topping_spoon_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_topping_spoon_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..90f9fbe86fe358e3ae80a7a5f5b50e8955a0bb7a --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.put_down_topping_spoon_12345678.yaml @@ -0,0 +1,19 @@ +arguments: + objects_grounding: + topping_spoon: the topping spoon + right_hand: the right robot gripper + surface: the work surface +grounded: true +initial_condition: ( is in the ) +instruction: Put down on the +metadata: + author: codex + original_skill_id: astrabot_xr1.put_down_topping_spoon + tags: + - place + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Put down the topping spoon +skill_id: astrabot_xr1.put_down_topping_spoon_12345678 +terminal_conditions_set: ( is on the ) AND ( is empty) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_peanuts_and_hawthorn_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_peanuts_and_hawthorn_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..626a18305ccb381a897a297d11ab342843d5c608 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_peanuts_and_hawthorn_12345678.yaml @@ -0,0 +1,21 @@ +arguments: + objects_grounding: + crushed_peanuts: the crushed peanuts + crushed_hawthorn: the crushed hawthorn + topping_container: the topping container + topping_spoon: the topping spoon + right_hand: the right robot gripper +grounded: true +initial_condition: ( are in ) AND ( are in ) AND ( is in the ) +instruction: Scoop a spoonful of and with +metadata: + author: codex + original_skill_id: astrabot_xr1.scoop_peanuts_and_hawthorn + tags: + - scoop + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Scoop a spoonful of crushed peanuts and hawthorn +skill_id: astrabot_xr1.scoop_peanuts_and_hawthorn_12345678 +terminal_conditions_set: ( are on ) AND ( are on ) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_specified_amount_of_batter_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_specified_amount_of_batter_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..f67e188122fd71cb00300875f93361dc4502b84f --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.scoop_specified_amount_of_batter_12345678.yaml @@ -0,0 +1,20 @@ +arguments: + objects_grounding: + batter: the batter + batter_container: the batter container + batter_spoon: the batter spoon + right_hand: the right robot gripper +grounded: true +initial_condition: ( is in ) AND ( is in the ) +instruction: Scoop the specified amount of with +metadata: + author: codex + original_skill_id: astrabot_xr1.scoop_specified_amount_of_batter + tags: + - scoop + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Scoop the specified amount of batter with the batter spoon +skill_id: astrabot_xr1.scoop_specified_amount_of_batter_12345678 +terminal_conditions_set: ( is on ) diff --git a/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.sprinkle_peanuts_and_hawthorn_12345678.yaml b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.sprinkle_peanuts_and_hawthorn_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..122d13af8990a353605e6a0bbc0de55039620285 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/skills/astrabot_xr1.sprinkle_peanuts_and_hawthorn_12345678.yaml @@ -0,0 +1,22 @@ +arguments: + objects_grounding: + crushed_peanuts: the crushed peanuts + crushed_hawthorn: the crushed hawthorn + egg_sponge_cake: the egg sponge cake + pan: the small frying pan + topping_spoon: the topping spoon + right_hand: the right robot gripper +grounded: true +initial_condition: ( are on ) AND ( are on ) AND ( is in ) +instruction: Sprinkle and onto +metadata: + author: codex + original_skill_id: astrabot_xr1.sprinkle_peanuts_and_hawthorn + tags: + - sprinkle + - manipulation + - kitchen +robot_type: astrabot_xr1 +skill_description: Sprinkle crushed peanuts and hawthorn onto the egg sponge cake +skill_id: astrabot_xr1.sprinkle_peanuts_and_hawthorn_12345678 +terminal_conditions_set: ( are on ) AND ( are on ) diff --git a/dataset_2026-09-10_14-32-06/meta/tasks.jsonl b/dataset_2026-09-10_14-32-06/meta/tasks.jsonl new file mode 100644 index 0000000000000000000000000000000000000000..bf898836b9ef591273305c176a8c084facfc8460 --- /dev/null +++ b/dataset_2026-09-10_14-32-06/meta/tasks.jsonl @@ -0,0 +1 @@ +{"task_index": 0, "task": "astrabot_xr1:egg_sponge_cake"} diff --git 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"smooth"], "breakpoints": [80, 219, 290, 402, 512, 585, 919, 1217]}}} +{"episode_index": 59, "tasks": ["astrabot_xr1:pull_drawer"], "length": 1610, "robot_type": "Astrabot", "quality": "smooth", "collector_name": "pengpeng", "collection_time": "2026-09-16 14:43:28", "frame_labels": {"skill": {"skill_sequence": ["astrabot_xr1.prepare_batter_spoon_v2_12345678", "astrabot_xr1.pour_batter_into_pan_v2_12345678", "astrabot_xr1.put_down_batter_spoon_v2_12345678", "astrabot_xr1.prepare_topping_spoon_v2_12345678", "astrabot_xr1.sprinkle_toppings_v2_12345678", "astrabot_xr1.put_down_topping_spoon_v2_12345678", "astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678", "astrabot_xr1.serve_egg_sponge_cake_v2_12345678", "astrabot_xr1.put_down_spatula_v2_12345678"], "skill_quality": ["smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth"], "breakpoints": [79, 243, 313, 472, 600, 671, 1171, 1494]}}} +{"episode_index": 60, "tasks": ["astrabot_xr1:pull_drawer"], "length": 1414, "robot_type": "Astrabot", "quality": "smooth", "collector_name": "pengpeng", "collection_time": "2026-09-16 14:47:45", "frame_labels": {"skill": {"skill_sequence": ["astrabot_xr1.prepare_batter_spoon_v2_12345678", "astrabot_xr1.pour_batter_into_pan_v2_12345678", "astrabot_xr1.put_down_batter_spoon_v2_12345678", "astrabot_xr1.prepare_topping_spoon_v2_12345678", "astrabot_xr1.sprinkle_toppings_v2_12345678", "astrabot_xr1.put_down_topping_spoon_v2_12345678", "astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678", "astrabot_xr1.serve_egg_sponge_cake_v2_12345678", "astrabot_xr1.put_down_spatula_v2_12345678"], "skill_quality": ["smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth", "smooth"], "breakpoints": [77, 224, 297, 425, 549, 662, 941, 1300]}}} diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.pour_batter_into_pan_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.pour_batter_into_pan_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..376acaee973dbb1b94185a92cc92c06a388a9040 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.pour_batter_into_pan_v2_12345678.yaml @@ -0,0 +1,22 @@ +arguments: + objects_grounding: + batter: the batter + batter_spoon: the batter spoon + pan: the small frying pan + right_hand: the right robot gripper +grounded: true +initial_condition: ( is on ) AND ( is in the ) AND ( is on the stove) +instruction: Pour from into +metadata: + author: codex + original_skill_id: astrabot_xr1.pour_batter_into_pan_v2 + tags: + - pour + - manipulation + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Pour the batter into the small frying pan +skill_id: astrabot_xr1.pour_batter_into_pan_v2_12345678 +terminal_conditions_set: ( is in ) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_batter_spoon_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_batter_spoon_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..22e10c6fe9173fb5d27f7ef74f23e7cf4ad99421 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_batter_spoon_v2_12345678.yaml @@ -0,0 +1,23 @@ +arguments: + objects_grounding: + batter_spoon: the batter spoon + batter: the batter + batter_container: the batter container + right_hand: the right robot gripper + surface: the work surface +grounded: true +initial_condition: ( is on the ) AND ( is in the ) AND ( is empty) +instruction: Pick up with and scoop the specified amount of from +metadata: + author: codex + original_skill_id: astrabot_xr1.prepare_batter_spoon_v2 + tags: + - pick + - scoop + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Pick up the batter spoon and scoop the specified amount of batter +skill_id: astrabot_xr1.prepare_batter_spoon_v2_12345678 +terminal_conditions_set: ( is in the ) AND ( is on ) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_topping_spoon_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_topping_spoon_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b20865de2e9cd61b0601950057ec5ef88794c4e6 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.prepare_topping_spoon_v2_12345678.yaml @@ -0,0 +1,23 @@ +arguments: + objects_grounding: + topping_spoon: the topping spoon + crushed_peanuts: the crushed peanuts + crushed_hawthorn: the crushed hawthorn + topping_container: the topping container + right_hand: the right robot gripper +grounded: true +initial_condition: ( is on the work surface) AND ( are in ) AND ( are in ) AND ( is empty) +instruction: Pick up with and scoop one spoonful of and from +metadata: + author: codex + original_skill_id: astrabot_xr1.prepare_topping_spoon_v2 + tags: + - pick + - scoop + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Pick up the topping spoon and scoop one spoonful of crushed peanuts and hawthorn +skill_id: astrabot_xr1.prepare_topping_spoon_v2_12345678 +terminal_conditions_set: ( is in the ) AND ( are on ) AND ( are on ) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_batter_spoon_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_batter_spoon_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..168f15fa97ec63b0993becce528934fca7c1f1ec --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_batter_spoon_v2_12345678.yaml @@ -0,0 +1,21 @@ +arguments: + objects_grounding: + batter_spoon: the batter spoon + surface: the batter spoon placement area + right_hand: the right robot gripper +grounded: true +initial_condition: ( is in the ) +instruction: Put down on +metadata: + author: codex + original_skill_id: astrabot_xr1.put_down_batter_spoon_v2 + tags: + - place + - manipulation + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Put down the batter spoon +skill_id: astrabot_xr1.put_down_batter_spoon_v2_12345678 +terminal_conditions_set: ( is on ) AND ( is empty) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_spatula_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_spatula_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..0a5f3b9a7881ffa676d2745abfc5efcced2be528 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_spatula_v2_12345678.yaml @@ -0,0 +1,21 @@ +arguments: + objects_grounding: + spatula: the spatula + surface: the spatula placement area + right_hand: the right robot gripper +grounded: true +initial_condition: ( is in the ) +instruction: Put down on +metadata: + author: codex + original_skill_id: astrabot_xr1.put_down_spatula_v2 + tags: + - place + - manipulation + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Put down the spatula +skill_id: astrabot_xr1.put_down_spatula_v2_12345678 +terminal_conditions_set: ( is on ) AND ( is empty) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_topping_spoon_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_topping_spoon_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..dc9ca8a6b74c1721a7c6e9478697ed57004d64cb --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.put_down_topping_spoon_v2_12345678.yaml @@ -0,0 +1,21 @@ +arguments: + objects_grounding: + topping_spoon: the topping spoon + surface: the topping spoon placement area + right_hand: the right robot gripper +grounded: true +initial_condition: ( is in the ) +instruction: Put down on +metadata: + author: codex + original_skill_id: astrabot_xr1.put_down_topping_spoon_v2 + tags: + - place + - manipulation + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Put down the topping spoon +skill_id: astrabot_xr1.put_down_topping_spoon_v2_12345678 +terminal_conditions_set: ( is on ) AND ( is empty) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.serve_egg_sponge_cake_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.serve_egg_sponge_cake_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..6d9ae6e542014bc25ff50f4e00286dc6c93bfd35 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.serve_egg_sponge_cake_v2_12345678.yaml @@ -0,0 +1,25 @@ +arguments: + objects_grounding: + egg_sponge_cake: the cooked egg sponge cake + pan: the small frying pan + spatula: the spatula + plate: the serving plate + left_hand: the left robot gripper + right_hand: the right robot gripper +grounded: true +initial_condition: ( is cooked in ) AND ( is in the ) AND ( is in the ) +instruction: Use to remove from and place it on +metadata: + author: codex + original_skill_id: astrabot_xr1.serve_egg_sponge_cake_v2 + tags: + - serve + - manipulation + - bimanual + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Remove the egg sponge cake from the pan and place it on the plate +skill_id: astrabot_xr1.serve_egg_sponge_cake_v2_12345678 +terminal_conditions_set: ( is on ) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.sprinkle_toppings_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.sprinkle_toppings_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b9dedfdffe850a62fb16182eb68adbeeb32322da --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.sprinkle_toppings_v2_12345678.yaml @@ -0,0 +1,24 @@ +arguments: + objects_grounding: + crushed_peanuts: the crushed peanuts + crushed_hawthorn: the crushed hawthorn + topping_spoon: the topping spoon + egg_sponge_cake: the egg sponge cake + pan: the small frying pan + right_hand: the right robot gripper +grounded: true +initial_condition: ( are on ) AND ( are on ) AND ( is in ) +instruction: Sprinkle and from onto +metadata: + author: codex + original_skill_id: astrabot_xr1.sprinkle_toppings_v2 + tags: + - sprinkle + - manipulation + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Sprinkle crushed peanuts and hawthorn onto the egg sponge cake +skill_id: astrabot_xr1.sprinkle_toppings_v2_12345678 +terminal_conditions_set: ( are on ) AND ( are on ) + diff --git a/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678.yaml b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678.yaml new file mode 100644 index 0000000000000000000000000000000000000000..b1bba9d00519ba7893432d1253c3646abb8e76b9 --- /dev/null +++ b/dataset_2026-09-15_18-00-19/meta/skills/astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678.yaml @@ -0,0 +1,24 @@ +arguments: + objects_grounding: + egg_sponge_cake: the egg sponge cake + pan: the small frying pan + spatula: the spatula + left_hand: the left robot gripper + right_hand: the right robot gripper +grounded: true +initial_condition: ( is cooking in ) AND ( is empty) AND ( is empty) +instruction: Wait until is cooked, then grasp with and with +metadata: + author: codex + original_skill_id: astrabot_xr1.wait_and_pick_pan_spatula_v2 + tags: + - wait + - pick + - bimanual + - kitchen + - egg-sponge-cake-v2 +robot_type: astrabot_xr1 +skill_description: Wait until the egg sponge cake is cooked, then hold the pan with the left hand and the spatula with the right hand +skill_id: astrabot_xr1.wait_and_pick_pan_spatula_v2_12345678 +terminal_conditions_set: ( is cooked) AND ( is in the ) AND ( is in the ) + diff --git a/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_head/episode_000010.mp4.ready b/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_head/episode_000010.mp4.ready new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_left_wrist/episode_000010.mp4.ready b/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_left_wrist/episode_000010.mp4.ready new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391 diff --git a/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_right_wrist/episode_000010.mp4.ready b/dataset_2026-09-15_18-00-19/videos/chunk-000/observation_images_right_wrist/episode_000010.mp4.ready new file mode 100644 index 0000000000000000000000000000000000000000..e69de29bb2d1d6434b8b29ae775ad8c2e48c5391